r2_gaze_controller.cpp
/home/rosbuild/hudson/workspace/doc-fuerte-nasa_r2_simulator/doc_stacks/2014-01-02_11-29-02.335244/nasa_r2_simulator/r2_controllers_gazebo/src/
r2__gaze__controller_8cpp
r2_gaze_controller.hpp
r2_gaze_controller
int
GetIndexFromName
namespacer2__gaze__controller.html
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(const std::vector< std::string > &nameArray, const std::string &name)
int
main
r2__gaze__controller_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
void
print_pose
namespacer2__gaze__controller.html
a3be7050d43b3bdaaeee6949284e1c4e2
(const KDL::Frame &frame, const std::string &name)
r2_gaze_controller.hpp
/home/rosbuild/hudson/workspace/doc-fuerte-nasa_r2_simulator/doc_stacks/2014-01-02_11-29-02.335244/nasa_r2_simulator/r2_controllers_gazebo/include/
r2__gaze__controller_8hpp
r2_gaze_ik.hpp
r2_gaze_controller::R2GazeController
r2_gaze_controller
r2_gaze_ik.cpp
/home/rosbuild/hudson/workspace/doc-fuerte-nasa_r2_simulator/doc_stacks/2014-01-02_11-29-02.335244/nasa_r2_simulator/r2_controllers_gazebo/src/
r2__gaze__ik_8cpp
r2_gaze_ik.hpp
r2_gaze_controller::Convert
r2_gaze_controller
bool
pseudoInverse
namespacer2__gaze__controller.html
aa78bc23e364d57f2336b119fe2163926
(const _Matrix_Type_ &a, _Matrix_Type_ &result, double epsilon=std::numeric_limits< typename _Matrix_Type_::Scalar >::epsilon())
r2_gaze_ik.hpp
/home/rosbuild/hudson/workspace/doc-fuerte-nasa_r2_simulator/doc_stacks/2014-01-02_11-29-02.335244/nasa_r2_simulator/r2_controllers_gazebo/include/
r2__gaze__ik_8hpp
r2_gaze_controller::R2GazeIK
r2_gaze_controller
r2_gazebo_controller_test.py
/home/rosbuild/hudson/workspace/doc-fuerte-nasa_r2_simulator/doc_stacks/2014-01-02_11-29-02.335244/nasa_r2_simulator/r2_controllers_gazebo/nodes/
r2__gazebo__controller__test_8py
r2_gazebo_controller_test
def
send_command_data
namespacer2__gazebo__controller__test.html
a1417d0af8c3ffcdaefb912bca0bd0061
r2_impedance_controller.cpp
/home/rosbuild/hudson/workspace/doc-fuerte-nasa_r2_simulator/doc_stacks/2014-01-02_11-29-02.335244/nasa_r2_simulator/r2_controllers_gazebo/src/
r2__impedance__controller_8cpp
r2_impedance_controller.h
static void
append
r2__impedance__controller_8cpp.html
a37c3f296fa7781ccd982b9daa533cbcb
(vector< string > &first, const vector< string > &second)
static vector< string >
createHandNames
r2__impedance__controller_8cpp.html
a6e794a11966e9e648753d5377d817b4a
(const string &a)
static vector< string >
createNames
r2__impedance__controller_8cpp.html
a438bbb320b615522746d4baac4074942
(const string &base, int count)
r2_impedance_controller.h
/home/rosbuild/hudson/workspace/doc-fuerte-nasa_r2_simulator/doc_stacks/2014-01-02_11-29-02.335244/nasa_r2_simulator/r2_controllers_gazebo/include/
r2__impedance__controller_8h
treeidsolver_recursive_newton_euler.hpp
TreeChain.h
WholeBodyCalc.h
r2_controller_ns::R2ImpedanceController::CtrlCalc::AvgV
r2_controller_ns::R2ImpedanceController::CtrlCalc
r2_controller_ns::R2ImpedanceController
r2_controller_ns
r2_joint_trajectory_action_controller.cpp
/home/rosbuild/hudson/workspace/doc-fuerte-nasa_r2_simulator/doc_stacks/2014-01-02_11-29-02.335244/nasa_r2_simulator/r2_controllers_gazebo/src/
r2__joint__trajectory__action__controller_8cpp
../include/r2_joint_trajectory_action_controller.h
r2_controller_ns
static void
generatePowers
namespacer2__controller__ns.html
aef04844ca97ce357dfaf4adfd356ea6f
(int n, double x, double *powers)
static void
getCubicSplineCoefficients
namespacer2__controller__ns.html
a0d7bfa2db99860e6858dab06f7bb4c11
(double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)
static void
getQuinticSplineCoefficients
namespacer2__controller__ns.html
a3cf8bf7382b04b58e6b5b805f68929c7
(double start_pos, double start_vel, double start_acc, double end_pos, double end_vel, double end_acc, double time, std::vector< double > &coefficients)
static void
sampleQuinticSpline
namespacer2__controller__ns.html
a5eb357da13232351853254df9c89c2ce
(const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
static bool
setsEqual
namespacer2__controller__ns.html
aa725edf68262f640b018d11d8fe8714a
(const std::vector< std::string > &a, const std::vector< std::string > &b)
static boost::shared_ptr< Member >
share_member
namespacer2__controller__ns.html
a78d358f35633fc007ab99c997d31ec53
(boost::shared_ptr< Enclosure > enclosure, Member &member)
r2_joint_trajectory_action_controller.h
/home/rosbuild/hudson/workspace/doc-fuerte-nasa_r2_simulator/doc_stacks/2014-01-02_11-29-02.335244/nasa_r2_simulator/r2_controllers_gazebo/include/
r2__joint__trajectory__action__controller_8h
r2_controller_ns::JointTolerance
r2_controller_ns::R2JointTrajectoryActionController
r2_controller_ns::RTServerGoalHandle
r2_controller_ns::R2JointTrajectoryActionController::Segment
r2_controller_ns::R2JointTrajectoryActionController::Spline
r2_controller_ns
r2_readypose.py
/home/rosbuild/hudson/workspace/doc-fuerte-nasa_r2_simulator/doc_stacks/2014-01-02_11-29-02.335244/nasa_r2_simulator/r2_controllers_gazebo/nodes/
r2__readypose_8py
r2_readypose
def
send_command_data
namespacer2__readypose.html
aa4ddd1768aa73e05c0b326e52f123786
TreeChain.h
/home/rosbuild/hudson/workspace/doc-fuerte-nasa_r2_simulator/doc_stacks/2014-01-02_11-29-02.335244/nasa_r2_simulator/r2_controllers_gazebo/include/
TreeChain_8h
TreeChain
treeidsolver.hpp
/home/rosbuild/hudson/workspace/doc-fuerte-nasa_r2_simulator/doc_stacks/2014-01-02_11-29-02.335244/nasa_r2_simulator/r2_controllers_gazebo/include/
treeidsolver_8hpp
KDL::TreeIdSolver
std::vector< Wrench >
Wrenches
namespaceKDL.html
a2fb3b44a6eb42dabe8f578543c206520
treeidsolver_recursive_newton_euler.cpp
/home/rosbuild/hudson/workspace/doc-fuerte-nasa_r2_simulator/doc_stacks/2014-01-02_11-29-02.335244/nasa_r2_simulator/r2_controllers_gazebo/src/
treeidsolver__recursive__newton__euler_8cpp
treeidsolver_recursive_newton_euler.hpp
treeidsolver_recursive_newton_euler.hpp
/home/rosbuild/hudson/workspace/doc-fuerte-nasa_r2_simulator/doc_stacks/2014-01-02_11-29-02.335244/nasa_r2_simulator/r2_controllers_gazebo/include/
treeidsolver__recursive__newton__euler_8hpp
treeidsolver.hpp
KDL::TreeIdSolver_RNE::Entry
KDL::TreeIdSolver_RNE::JntEntry
KDL::TreeIdSolver_RNE
WholeBodyCalc.h
/home/rosbuild/hudson/workspace/doc-fuerte-nasa_r2_simulator/doc_stacks/2014-01-02_11-29-02.335244/nasa_r2_simulator/r2_controllers_gazebo/include/
WholeBodyCalc_8h
WholeBodyCalc
TreeChain
classTreeChain.html
Eigen::Matrix< double, 7, 1 >
fk
classTreeChain.html
a45f5bd8a4c429588309c75fe832427e2
(const std::vector< double > &treeJnts)
Eigen::Matrix< double, 7, 1 >
fk
classTreeChain.html
a5fb8c94af01db6c7a60f475453f5cc6c
()
Eigen::Matrix< double, 6, 1 >
fk_vel
classTreeChain.html
ad689956184e5b478700e6616f6d7a24b
()
const KDL::Jacobian &
getJ
classTreeChain.html
ad5a37d5a58e61cb31dc72fc43c5818ed
() const
void
init
classTreeChain.html
a672aecd1b5c20dda62717f661cc1ef9a
(const KDL::Tree &tree, const std::string &root, const std::string &tip, std::vector< double > &Kgains, std::vector< double > &Dgains)
const KDL::JntArray &
moveCart
classTreeChain.html
a22d2ec722621b50233517392ef572fab
(Eigen::Matrix< double, 7, 1 > &cartCmd, const std::vector< double > &treeJnts, const std::vector< double > &treeJntsVel)
const KDL::JntArray &
moveCart
classTreeChain.html
a4b72dd627e6ff10750dff1d120cc85a8
(KDL::Twist &cartVelCmd, const std::vector< double > &treeJnts, const std::vector< double > &treeJntsVel)
const KDL::JntArray &
moveCart
classTreeChain.html
a5bde65c987affc5a54b8cec5763ece15
(Eigen::Matrix< double, 7, 1 > &cartCmd, KDL::Twist &cartVelCmd, const std::vector< double > &treeJnts, const std::vector< double > &treeJntsVel)
int
size
classTreeChain.html
ad536485bf620fff17b167f224ea6bc3e
() const
TreeChain
classTreeChain.html
a39a3836a5e2b70678049a27cd3686637
()
int
treeIdx
classTreeChain.html
ae98d417334e7871703b56fdf5d11aee2
(int chainIdx) const
void
update
classTreeChain.html
a2b3f5c7d1173f7732da794835dbd5610
(const std::vector< double > &treeJnts, const std::vector< double > &treeJntsVel)
KDL::Chain
chain
classTreeChain.html
a43af729e398b488e933f2de96fbaa576
std::vector< int >
chain2Tree
classTreeChain.html
a1554dc9766151659ba474005c5ff75c4
KDL::JntArray
full_result
classTreeChain.html
acbea55293efa44669c283fa081f1f209
KDL::Jacobian
fullJ
classTreeChain.html
a05fe607fba86147455e6508908a6625e
KDL::Jacobian
J
classTreeChain.html
a0aaf80559383d2c959ce81ae2c7b6f41
int
jnt_size
classTreeChain.html
a93745d5c0ad2f47abe2d21bcacdcfb63
KDL::JntArray
jnts
classTreeChain.html
a0351baeea66d182117b5d8b0c475457c
KDL::JntArrayVel
jntsVel
classTreeChain.html
a1ff7813bfefa9be3f4652d51c3cf27b1
std::vector< double > *
pD
classTreeChain.html
ad881dc5273389e26faede73df99c9535
std::vector< double > *
pK
classTreeChain.html
a033941ea5a51ffe33903ccf3b1006ffb
KDL::JntArray
result
classTreeChain.html
af38dccc60e833daaa1a3757fda7eed51
int
tree_size
classTreeChain.html
ad8d16edae3bec67d15cd9385072f4836
WholeBodyCalc
classWholeBodyCalc.html
Eigen::MatrixXd
calcPinv
classWholeBodyCalc.html
adfe5766f868d7e815288dccaac07e6d5
(const Eigen::MatrixXd &in)
const KDL::JntArray &
project
classWholeBodyCalc.html
a41837d939c1f90af0491e62dab8a0102
(const KDL::JntArray &torques, const TreeChain &tc)
const KDL::JntArray &
project
classWholeBodyCalc.html
a0c2ea8a4765b34125e992cdca041d9ad
(const KDL::JntArray &torques)
void
reset
classWholeBodyCalc.html
adc751eeae4f772c4632b28497772c017
()
WholeBodyCalc
classWholeBodyCalc.html
a619f4b8c6c92b6c282e30acf52151e18
()
WholeBodyCalc
classWholeBodyCalc.html
aa2d14df5a9abff091116d378968d6729
(const KDL::Tree &tree)
Eigen::MatrixXd
I
classWholeBodyCalc.html
ad35dbad39b530ab8d93daba1d42ae48a
Eigen::MatrixXd
Jsum
classWholeBodyCalc.html
a9a00cd4213e1dd956403d628b1161573
Eigen::MatrixXd
N
classWholeBodyCalc.html
af7d85c018d1f35a7d729a042087c2f0c
KDL::JntArray
result
classWholeBodyCalc.html
ab303234190c479006bd3ea91f7c6f3fe
int
tree_size
classWholeBodyCalc.html
a13f9168ba98e0b76ccf219afcac5c0ed
KDL::TreeIdSolver
classKDL_1_1TreeIdSolver.html
virtual int
CartToJnt
classKDL_1_1TreeIdSolver.html
abc3389e4eab49485b0be54edb0f5c3d3
(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext, JntArray &torques)=0
virtual int
CartToJnt
classKDL_1_1TreeIdSolver.html
a32ca263fc9f7a6779aea466a017cbea7
(const std::vector< double > &q, const std::vector< double > &q_dot, const std::vector< double > &q_dotdot, const Wrenches &f_ext, JntArray &torques)=0
KDL::TreeIdSolver_RNE
classKDL_1_1TreeIdSolver__RNE.html
KDL::TreeIdSolver
KDL::TreeIdSolver_RNE::Entry
KDL::TreeIdSolver_RNE::JntEntry
int
CartToJnt
classKDL_1_1TreeIdSolver__RNE.html
a4a0b9a35e5d7273d5f723b0059a6046b
(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext, JntArray &torques)
int
CartToJnt
classKDL_1_1TreeIdSolver__RNE.html
ad1a16008d3d5b7141c96d4d63d9e49f2
(const std::vector< double > &q, const std::vector< double > &q_dot, const std::vector< double > &q_dotdot, const Wrenches &f_ext, JntArray &torques)
TreeIdSolver_RNE
classKDL_1_1TreeIdSolver__RNE.html
a1ed0550833118fc583823d99bb2f29b3
(const Tree &tree, Vector grav)
~TreeIdSolver_RNE
classKDL_1_1TreeIdSolver__RNE.html
a26c21dc7c9ecbcda71f9cf7098531ebd
()
Twist
ag
classKDL_1_1TreeIdSolver__RNE.html
a58885d9cd050863cb3222afa05ee14e4
std::map< std::string, Entry >
db
classKDL_1_1TreeIdSolver__RNE.html
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std::map< std::string, JntEntry >
jntdb
classKDL_1_1TreeIdSolver__RNE.html
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std::string
root_name
classKDL_1_1TreeIdSolver__RNE.html
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Tree
tree
classKDL_1_1TreeIdSolver__RNE.html
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KDL::TreeIdSolver_RNE::Entry
structKDL_1_1TreeIdSolver__RNE_1_1Entry.html
Twist
a
structKDL_1_1TreeIdSolver__RNE_1_1Entry.html
a05cea7997f90e25e2e5d5cd4cc75657c
Wrench
f
structKDL_1_1TreeIdSolver__RNE_1_1Entry.html
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Wrench
f_ext
structKDL_1_1TreeIdSolver__RNE_1_1Entry.html
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Twist
S
structKDL_1_1TreeIdSolver__RNE_1_1Entry.html
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Twist
v
structKDL_1_1TreeIdSolver__RNE_1_1Entry.html
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Frame
X
structKDL_1_1TreeIdSolver__RNE_1_1Entry.html
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KDL::TreeIdSolver_RNE::JntEntry
structKDL_1_1TreeIdSolver__RNE_1_1JntEntry.html
int
idx
structKDL_1_1TreeIdSolver__RNE_1_1JntEntry.html
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double
torque
structKDL_1_1TreeIdSolver__RNE_1_1JntEntry.html
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pr2_controller_interface::R2JointTrajectoryActionController
classpr2__controller__interface_1_1R2JointTrajectoryActionController.html
r2_controller_ns
namespacer2__controller__ns.html
r2_controller_ns::JointTolerance
r2_controller_ns::R2ImpedanceController
r2_controller_ns::R2JointTrajectoryActionController
r2_controller_ns::RTServerGoalHandle
static void
generatePowers
namespacer2__controller__ns.html
aef04844ca97ce357dfaf4adfd356ea6f
(int n, double x, double *powers)
static void
getCubicSplineCoefficients
namespacer2__controller__ns.html
a0d7bfa2db99860e6858dab06f7bb4c11
(double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)
static void
getQuinticSplineCoefficients
namespacer2__controller__ns.html
a3cf8bf7382b04b58e6b5b805f68929c7
(double start_pos, double start_vel, double start_acc, double end_pos, double end_vel, double end_acc, double time, std::vector< double > &coefficients)
static void
sampleQuinticSpline
namespacer2__controller__ns.html
a5eb357da13232351853254df9c89c2ce
(const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
static bool
setsEqual
namespacer2__controller__ns.html
aa725edf68262f640b018d11d8fe8714a
(const std::vector< std::string > &a, const std::vector< std::string > &b)
static boost::shared_ptr< Member >
share_member
namespacer2__controller__ns.html
a78d358f35633fc007ab99c997d31ec53
(boost::shared_ptr< Enclosure > enclosure, Member &member)
r2_controller_ns::JointTolerance
classr2__controller__ns_1_1JointTolerance.html
JointTolerance
classr2__controller__ns_1_1JointTolerance.html
a98470809323e014b004ab746743da3e3
(double _position=0, double _velocity=0, double _acceleration=0)
bool
violated
classr2__controller__ns_1_1JointTolerance.html
a19050491750b79aa5d829ab11fb243f6
(double p_err, double v_err=0, double a_err=0) const
double
acceleration
classr2__controller__ns_1_1JointTolerance.html
a0279e185b2ad0119fc073cf7de9a4576
double
position
classr2__controller__ns_1_1JointTolerance.html
abf6eca84774a137ac806e85c85774a49
double
velocity
classr2__controller__ns_1_1JointTolerance.html
a398bbe96740865d793fb15184b6ad3d3
r2_controller_ns::R2ImpedanceController
classr2__controller__ns_1_1R2ImpedanceController.html
pr2_controller_interface::Controller
r2_controller_ns::R2ImpedanceController::CtrlCalc
bool
init
classr2__controller__ns_1_1R2ImpedanceController.html
a0e2fae0867550ac34aae8d9822232bd5
(pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &n)
virtual void
starting
classr2__controller__ns_1_1R2ImpedanceController.html
af2886cda0ad54410f525052ef34c3188
()
virtual void
update
classr2__controller__ns_1_1R2ImpedanceController.html
acb36e82134f54f8acd71e373aeb29eb3
()
std::vector< double >
getGainParams
classr2__controller__ns_1_1R2ImpedanceController.html
aadb5916b2759e199fddd2699798337b3
(const std::vector< std::string > ¶m_names, const std::string ¶m_name)
void
init_ros_msgs
classr2__controller__ns_1_1R2ImpedanceController.html
a4d3cebfbf7cb3c7e6423126ac48300ef
()
void
joint_command
classr2__controller__ns_1_1R2ImpedanceController.html
a5deb05f78958ec4e7a736e2bcd0ab371
(const sensor_msgs::JointState::ConstPtr &msg)
void
joint_command_entry
classr2__controller__ns_1_1R2ImpedanceController.html
a1b325a7cd1703301b3bf2cecfede4566
(const std::string &name, double value, std::vector< double > &desired)
void
joint_command_entry
classr2__controller__ns_1_1R2ImpedanceController.html
a2976f316dc35a3ad8102e964edf220c6
(const std::string &name, bool value, std::vector< int > &desired)
void
joint_left_command
classr2__controller__ns_1_1R2ImpedanceController.html
a2f55bcd5563c5436adc9480fb9539875
(const sensor_msgs::JointState::ConstPtr &msg)
void
joint_neck_command
classr2__controller__ns_1_1R2ImpedanceController.html
a3f58a85570358f3576180f224662b331
(const sensor_msgs::JointState::ConstPtr &msg)
void
joint_right_command
classr2__controller__ns_1_1R2ImpedanceController.html
ac60caf1d22e8a5027c38dfa981631399
(const sensor_msgs::JointState::ConstPtr &msg)
void
joint_waist_command
classr2__controller__ns_1_1R2ImpedanceController.html
a35eca7f50d814009e16b7faff2cb1380
(const sensor_msgs::JointState::ConstPtr &msg)
void
load_params
classr2__controller__ns_1_1R2ImpedanceController.html
a7ec56d9cd6cce0919c7cdbdc0b2d9a89
()
void
pose_left_command
classr2__controller__ns_1_1R2ImpedanceController.html
a7ec6217d8e60c884969cc2bb63af5292
(const geometry_msgs::PoseStamped::ConstPtr &msg)
void
pose_right_command
classr2__controller__ns_1_1R2ImpedanceController.html
a1e26885db0bde4a1ed0bbd1ae63ca984
(const geometry_msgs::PoseStamped::ConstPtr &msg)
void
pose_vel_command_inner
classr2__controller__ns_1_1R2ImpedanceController.html
ae6910a6a1a00eae7c7ce8074e5eabe1f
(const r2_msgs::PoseTwistStamped::ConstPtr &msg, Eigen::Matrix< double, 7, 1 > &cmd, KDL::Twist &velCmd, bool &cart_vel)
void
pose_vel_left_command
classr2__controller__ns_1_1R2ImpedanceController.html
a0bb96e8373cfb11e2f7f3eb77fcb4af9
(const r2_msgs::PoseTwistStamped::ConstPtr &msg)
void
pose_vel_right_command
classr2__controller__ns_1_1R2ImpedanceController.html
a15b8d40799523fabbf950b7475feda6f
(const r2_msgs::PoseTwistStamped::ConstPtr &msg)
void
publish_msgs
classr2__controller__ns_1_1R2ImpedanceController.html
aacc79ea5f150cc637c2294458b7e3453
()
void
set_gains
classr2__controller__ns_1_1R2ImpedanceController.html
aa9498ed0bd349cc02c692944e6080981
(const r2_msgs::Gains::ConstPtr &msg)
bool
set_joint_mode
classr2__controller__ns_1_1R2ImpedanceController.html
a6ef0eecf9a2666def46dbe243e07d488
(r2_msgs::SetJointMode::Request &req, r2_msgs::SetJointMode::Response &res)
bool
set_power
classr2__controller__ns_1_1R2ImpedanceController.html
a12ff38257521ba3915f351e8ab349ba8
(r2_msgs::Power::Request &req, r2_msgs::Power::Response &res)
bool
set_servo
classr2__controller__ns_1_1R2ImpedanceController.html
a07b6f48f19c699df7e2ce1d9c16859c5
(r2_msgs::Servo::Request &req, r2_msgs::Servo::Response &res)
bool
set_tip_name
classr2__controller__ns_1_1R2ImpedanceController.html
adcf440ee6387bb66b7ae17a4f6f0ecfc
(r2_msgs::SetTipName::Request &req, r2_msgs::SetTipName::Response &res)
KDL::Frame
transformPoseMsg
classr2__controller__ns_1_1R2ImpedanceController.html
a01b4e434d5ad6146c0e4cf01ceb48777
(const geometry_msgs::PoseStamped::ConstPtr &msg)
CtrlCalc
cc
classr2__controller__ns_1_1R2ImpedanceController.html
a5c1962fd8ab91dc57052475f13caec56
boost::scoped_ptr< realtime_tools::RealtimePublisher< r2_msgs::Gains > >
gains_publisher
classr2__controller__ns_1_1R2ImpedanceController.html
a85c8e94d612987233f1a490dfd6ecfbd
ros::Subscriber
joint_command_sub
classr2__controller__ns_1_1R2ImpedanceController.html
a7832b1a88d63e8a0ec6ec1b4fcce886a
ros::Subscriber
left_joint_command_sub
classr2__controller__ns_1_1R2ImpedanceController.html
aadf3cf8112e60b0e5539096381d0fc00
boost::scoped_ptr< tf::MessageFilter< geometry_msgs::PoseStamped > >
left_pose_command_filter
classr2__controller__ns_1_1R2ImpedanceController.html
aa20de96104ed4e7b98ed4738c4b30e00
message_filters::Subscriber< geometry_msgs::PoseStamped >
left_pose_command_sub
classr2__controller__ns_1_1R2ImpedanceController.html
a9f40e34db1776db552539da7cbf964cf
boost::scoped_ptr< realtime_tools::RealtimePublisher< geometry_msgs::Twist > >
left_pose_error_publisher
classr2__controller__ns_1_1R2ImpedanceController.html
a43e04c8f824da9ad3016c46fe532a18c
boost::scoped_ptr< tf::MessageFilter< r2_msgs::PoseTwistStamped > >
left_pose_vel_command_filter
classr2__controller__ns_1_1R2ImpedanceController.html
a9dba2736f40dc2626fefaef199b62aea
message_filters::Subscriber< r2_msgs::PoseTwistStamped >
left_pose_vel_command_sub
classr2__controller__ns_1_1R2ImpedanceController.html
a64a0b31d980f4530632fa53732974b02
boost::scoped_ptr< realtime_tools::RealtimePublisher< geometry_msgs::PoseStamped > >
left_tip_pose_publisher
classr2__controller__ns_1_1R2ImpedanceController.html
a47da139af0e6d3ec9fd7f03a5980f678
ros::Subscriber
neck_joint_command_sub
classr2__controller__ns_1_1R2ImpedanceController.html
a7eea55036e2aa3e2bb2123e08e835a27
ros::NodeHandle
node
classr2__controller__ns_1_1R2ImpedanceController.html
a94020334c69057a47ab299bbc6ac9f66
ros::Subscriber
right_joint_command_sub
classr2__controller__ns_1_1R2ImpedanceController.html
a13995cfb4cd73773f75a3ccccdaee8d6
boost::scoped_ptr< tf::MessageFilter< geometry_msgs::PoseStamped > >
right_pose_command_filter
classr2__controller__ns_1_1R2ImpedanceController.html
ae40b3f3f2e368abc0b4b55505ab94a96
message_filters::Subscriber< geometry_msgs::PoseStamped >
right_pose_command_sub
classr2__controller__ns_1_1R2ImpedanceController.html
a2d7735728c62daa813412bdd18df0866
boost::scoped_ptr< realtime_tools::RealtimePublisher< geometry_msgs::Twist > >
right_pose_error_publisher
classr2__controller__ns_1_1R2ImpedanceController.html
a44cee32ae26efd817902e88fa2d70281
boost::scoped_ptr< tf::MessageFilter< r2_msgs::PoseTwistStamped > >
right_pose_vel_command_filter
classr2__controller__ns_1_1R2ImpedanceController.html
a1e71367116410cec5e84058470921646
message_filters::Subscriber< r2_msgs::PoseTwistStamped >
right_pose_vel_command_sub
classr2__controller__ns_1_1R2ImpedanceController.html
a99102f91011e2a935a9f39511651797d
boost::scoped_ptr< realtime_tools::RealtimePublisher< geometry_msgs::PoseStamped > >
right_tip_pose_publisher
classr2__controller__ns_1_1R2ImpedanceController.html
a90480c2b4c576ba657b338bbde05ac4d
pr2_mechanism_model::RobotState *
robot_state
classr2__controller__ns_1_1R2ImpedanceController.html
a4ef16cbffa36e204ccebee0264893851
std::vector< pr2_mechanism_model::JointState * >
robotStateJoints
classr2__controller__ns_1_1R2ImpedanceController.html
ad6dfa7ac1186a533c4a5c095e10b4de6
ros::Subscriber
set_gains_sub
classr2__controller__ns_1_1R2ImpedanceController.html
a70a25b44529b1a946b7f88107ddb3fc6
ros::ServiceServer
srv_set_joint_mode
classr2__controller__ns_1_1R2ImpedanceController.html
a12e7de86ad99cba2ef93c10b83329b76
ros::ServiceServer
srv_set_power
classr2__controller__ns_1_1R2ImpedanceController.html
abde2bf16fa70f59a4ab2894f908f3713
ros::ServiceServer
srv_set_servo
classr2__controller__ns_1_1R2ImpedanceController.html
a7b86fc904cb4980bb00c63714c1f9f96
ros::ServiceServer
srv_set_tip_name
classr2__controller__ns_1_1R2ImpedanceController.html
a15e9f90b5abb0da673c7ea591a3d9767
tf::TransformListener
tfListener
classr2__controller__ns_1_1R2ImpedanceController.html
a9f8e90f4c9bed138f8761bf5230a822b
boost::mutex
thread_mutex
classr2__controller__ns_1_1R2ImpedanceController.html
a0f93c7d56c784174544dc5fc4b77a327
ros::Time
time
classr2__controller__ns_1_1R2ImpedanceController.html
a1ba76730a3d22d2c4ea78f1b39b3d556
ros::Subscriber
waist_joint_command_sub
classr2__controller__ns_1_1R2ImpedanceController.html
a86df1169f3a9c484d1d70321b0083073
r2_controller_ns::R2ImpedanceController::CtrlCalc
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
r2_controller_ns::R2ImpedanceController::CtrlCalc::AvgV
void
activate
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
acc2833832fe42ed651df2e2ecf296b12
(TreeChain &tc, bool &flag, Eigen::Matrix< double, 7, 1 > &pose_cmd)
void
calculate
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a3346e40a862f1be550da1d369e2c6d29
()
void
init
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a467816b19e8e921af406082eaa7db512
(double gravity[3])
KDL::JntArray
jointDCmd
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a87c501210df737fcb7581647bb4fbbe7
(const std::vector< double > &qd)
KDL::JntArray
jointKCmd
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a7d92e32ef1252d23ebf425fcefb3683e
(const std::vector< double > &q)
void
reactivate
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a96efc866348de02e4184a872107d272b
()
std::vector< double >
cartD_left
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a3fce25d97c1f14acd1407778a62e2b7f
std::vector< double >
cartD_right
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
abee279b74332e87cea3dbeda8021ff70
std::vector< double >
cartK_left
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a5582d228055638bb61d9009d494de1c7
std::vector< double >
cartK_right
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a966dc5f8295e071db199c6be59786eed
std::vector< double >
D
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
ac6981a2495cc9f017abed11fed1cfad0
std::vector< double >
D_high
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
ae9a1043c932dcc9f57e95e8d4c973a7b
std::vector< double >
D_low
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a76f4347adbbcd2ee5fdec45bd40d0ac2
std::vector< double >
desired
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a46313bafab62f9d40ededae15ad8afa5
std::vector< double >
desiredVel
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a1d790617bfaf5ac8d0a814bf24e8a3d8
std::vector< std::string >
idx2name
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a76cf7510e772e7bd5801d7139ced4bf3
int
jnt_size
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a1a4bc5f40893505d733ef9558d60ebe9
std::vector< double >
jntsCenterPoint
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a592fd6d2fd152f9306f70b89bedcc6e0
std::vector< double >
jntsLowerLimit
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a0885f9f405db7839c73006145c438fd8
std::vector< double >
jntsUpperLimit
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
aa803b31ba5b3375eada35aeabd50d0e1
std::vector< int >
joint_pos_control
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a5f18e9f526d308e02c3d802d02076fc7
std::vector< int >
joint_vel_control
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
ad766a4b0c8b59b03ddfd7c96f78a4cd0
std::vector< double >
K
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a159884be507b160bef2e9db15f342024
std::vector< double >
K_high
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
aad8e378b5585b2cc9501e276c6098dc8
std::vector< double >
K_low
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
ae1e4731d22c8621d82bab5c39bba96a0
TreeChain
left
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a121fd643a17e7a58989512421c270c35
bool
left_cart
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a530acb241373659e76367361a4da9edc
bool
left_cart_vel
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a89fd445df7aee322db394ecf676c5f5e
Eigen::Matrix< double, 7, 1 >
leftCmd
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a8aa4fc24fce86ac8752608f8337152f8
KDL::Twist
leftVelCmd
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a395d8a0276bc06259401bed8b6718921
std::map< std::string, int >
name2idx
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a3077e3516571449b4be96de094618857
TreeChain
neck
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
aed69ad561491d6a3eb1b399b0c78744a
bool
neck_cart
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a35693eee0afb567a2500bee77bf082ff
bool
neck_cart_vel
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a261b609fd8076e2820c6c5a518905568
Eigen::Matrix< double, 7, 1 >
neckCmd
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a5869385c54d22ca14774b5ac2ec88675
KDL::Twist
neckVelCmd
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
afc735c078916a9834cccd4fec4f42857
TreeChain
right
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a184189821a9a431c81c02c44ab99776c
bool
right_cart
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a8a434f68f02cb97f9012a465abb08761
bool
right_cart_vel
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a9c8cfecbd125bacce834a1e8da5f2205
Eigen::Matrix< double, 7, 1 >
rightCmd
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
abbba552bc7f61e1fd3e30d5a218b3ba8
KDL::Twist
rightVelCmd
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a1b86513298c6ddbd75f7d6b9270afadb
boost::scoped_ptr< KDL::TreeIdSolver >
rne_calc
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a8e0dc54f3612873028c7984ff4fcbf30
KDL::Tree
robot_tree
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a5e345eb32da84dd8a236bd7a19c98a1e
std::string
root_name
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a3d3f69807e4ef59253c7c19fbd4a651d
KDL::JntArray
torques
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a838b406042cc35ed83ad35da388edf69
std::vector< double >
treeJnts
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
aa32b2ee1ac7ec7634f5f4c81fdc7ce62
std::vector< AvgV< 3 > >
treeJntsAvg
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
ab088a6043567480b623bab4345b1b9ee
std::vector< double >
treeJntsVel
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
afeb6a955b7d67632aef48289c5bb50ed
std::vector< AvgV< 3 > >
treeJntsVelAvg
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
a7ca622ae43439d92e36a6319f4a36929
WholeBodyCalc
wbc
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc.html
ad8bdec0914f6d352a7c351119c04792c
r2_controller_ns::R2ImpedanceController::CtrlCalc::AvgV
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc_1_1AvgV.html
_N
AvgV
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc_1_1AvgV.html
a6782e3dc0d366dcf00c2821f9bfb8fb0
()
operator double
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc_1_1AvgV.html
a58d7fdc31776bc607a1f85727273ea20
() const
void
operator=
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc_1_1AvgV.html
a751167dee097498d096a048acc053c16
(double in)
double
data
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc_1_1AvgV.html
add28067db336b7d91bd26fc9637def49
[_N]
int
idx
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc_1_1AvgV.html
a6153964edd2d8711fedae84fd9889333
double
sorted
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc_1_1AvgV.html
af615ce0f30ef07f718ab115b593aad28
[_N]
bool
update
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc_1_1AvgV.html
a6d35293a1bcaa8fe5d24a57453668884
static const int
N
classr2__controller__ns_1_1R2ImpedanceController_1_1CtrlCalc_1_1AvgV.html
afa31b84ccdeac855a4ddd0e0c7e5499f
r2_controller_ns::R2JointTrajectoryActionController
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
pr2_controller_interface::Controller
r2_controller_ns::R2JointTrajectoryActionController::Segment
r2_controller_ns::R2JointTrajectoryActionController::Spline
bool
init
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a0834a87795d94722ae194fe97fda3f7f
(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
R2JointTrajectoryActionController
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a0b393a952e2f5e7f8576c6a9e45ecd55
()
void
starting
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
ac3bed28e95ea7b9edcddb2492204a254
()
void
update
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a3e7bd3be5faf5831f568b6b49454dce7
()
~R2JointTrajectoryActionController
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a8b75c7cc9d43d9acc229fa2da9c7a72a
()
actionlib::ActionServer< control_msgs::FollowJointTrajectoryAction >
FJTAS
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a2c5045491385e85998cddd58300c6018
JTAS::GoalHandle
GoalHandle
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a0fa321d749426e1b227595fecd4ea279
FJTAS::GoalHandle
GoalHandleFollow
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
aeef41b7c6b0a6c5d7acc72699546672e
actionlib::ActionServer< pr2_controllers_msgs::JointTrajectoryAction >
JTAS
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
afa022d36e9c3f168be2ed30004d7ca02
RTServerGoalHandle< pr2_controllers_msgs::JointTrajectoryAction >
RTGoalHandle
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
abb4cb85ec462b2af20d8a57decc1a838
RTServerGoalHandle< control_msgs::FollowJointTrajectoryAction >
RTGoalHandleFollow
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
ae4d2055d660b7f33ac08fef8b6340e86
std::vector< Segment >
SpecifiedTrajectory
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a365521731d3dc47f61d3d1ef9f7879e8
void
cancelCB
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
ab1c8770cba239c721d7bc63c45633678
(GoalHandle gh)
void
cancelCBFollow
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a3b149dff986cd9b8e71e8abcef97cdf6
(GoalHandleFollow gh)
void
commandCB
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a78835aaa6d65eb5710f3e6f58d21864c
(const trajectory_msgs::JointTrajectory::ConstPtr &msg)
void
commandTrajectory
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a0d8f711c0c5f9dd9fc4db9baa243036c
(const trajectory_msgs::JointTrajectory::ConstPtr &traj, boost::shared_ptr< RTGoalHandle > gh=boost::shared_ptr< RTGoalHandle >((RTGoalHandle *) NULL), boost::shared_ptr< RTGoalHandleFollow > gh_follow=boost::shared_ptr< RTGoalHandleFollow >((RTGoalHandleFollow *) NULL))
void
goalCB
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
ab6ef1db6b388182f3b71585cdd3f0b20
(GoalHandle gh)
void
goalCBFollow
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a208d00dec6e167b654159c9115d4a7d0
(GoalHandleFollow gh)
void
preemptActiveGoal
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
af1bfe007809752a6d608b69479a7864b
()
bool
queryStateService
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a4a23721164f3caea8335eb5a22a411b1
(pr2_controllers_msgs::QueryTrajectoryState::Request &req, pr2_controllers_msgs::QueryTrajectoryState::Response &resp)
static void
sampleSplineWithTimeBounds
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a2dd3a152a5592bd30b784a4a6ba8b73f
(const std::vector< double > &coefficients, double duration, double time, double &position, double &velocity, double &acceleration)
boost::scoped_ptr< JTAS >
action_server_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
aac835ddb88c955b355d257bc9c7413a6
boost::scoped_ptr< FJTAS >
action_server_follow_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
ad11f7ceadde507d8b99be9cadc6dfb34
boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointTrajectoryControllerState > >
controller_state_publisher_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
afc39b97cee357a499c4033f5b679eca1
realtime_tools::RealtimeBox< boost::shared_ptr< const SpecifiedTrajectory > >
current_trajectory_box_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
ae1d8d2c30f139aca54501141eaf4d578
double
default_goal_time_constraint_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
aa329a53e6d9c7abcafb3870b603e8c4e
std::vector< JointTolerance >
default_goal_tolerance_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
ad5063e0c3b9ba3f8d69ea31e3a86c8e1
std::vector< JointTolerance >
default_trajectory_tolerance_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a58362eb61af7c5a0eab1ef0af4835c76
ros::Timer
goal_handle_timer_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a20623e596ecb03b16d525336885c806e
std::vector< pr2_mechanism_model::JointState * >
joints_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a6262c4b817ef885be872483792d95346
ros::Time
last_time_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a97bd62873f5d40546e0653c19aaef756
int
loop_count_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
ac1d332f84be7f742115d40b852cde279
std::vector< double >
masses_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a36bd3a184769825546e32ea0a6c85db3
ros::NodeHandle
node_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
ab0a5741302371c34d46170e62b226950
std::vector< boost::shared_ptr< filters::FilterChain< double > > >
output_filters_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
ada6794de77651bdd15a4f42b646f7201
std::vector< control_toolbox::Pid >
pids_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
ab5fc0b2d5c23264c66da97e7ccd3d72f
std::vector< control_toolbox::LimitedProxy >
proxies_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a287da5f5b6cad023de5273c70127314f
std::vector< bool >
proxies_enabled_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a981a0e9e18240c5a507fa48d9e9e15a5
std::vector< double >
q
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
ae461602bbc4542721148b397514ffbba
std::vector< double >
qd
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a5c3523b5c1424be15824cc0565c1b031
std::vector< double >
qdd
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
ae957347ef22966b82a74909549417897
pr2_mechanism_model::RobotState *
robot_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
adc50f42a64827b2b64f5891fc57650a1
boost::shared_ptr< RTGoalHandle >
rt_active_goal_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a7e43573b9b46b7d181e5427868dcf720
boost::shared_ptr< RTGoalHandleFollow >
rt_active_goal_follow_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a3fd89dedc9c77c45c5aaddbda97b892a
ros::ServiceServer
serve_query_state_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
a33650e14c6fbe170f10e0251ea165a29
ros::Subscriber
sub_command_
classr2__controller__ns_1_1R2JointTrajectoryActionController.html
addc25609a9148feb63ea7aeaaf656db7
r2_controller_ns::R2JointTrajectoryActionController::Segment
structr2__controller__ns_1_1R2JointTrajectoryActionController_1_1Segment.html
double
duration
structr2__controller__ns_1_1R2JointTrajectoryActionController_1_1Segment.html
ad32234d94452d72558231bc3b03c9987
boost::shared_ptr< RTGoalHandle >
gh
structr2__controller__ns_1_1R2JointTrajectoryActionController_1_1Segment.html
a9e898e04f4bdb56722741510c7802624
boost::shared_ptr< RTGoalHandleFollow >
gh_follow
structr2__controller__ns_1_1R2JointTrajectoryActionController_1_1Segment.html
ab63a818b00d6addedbb4742a3fda9366
double
goal_time_tolerance
structr2__controller__ns_1_1R2JointTrajectoryActionController_1_1Segment.html
adedfcb87d2747401ebf08190f70b2bcb
std::vector< JointTolerance >
goal_tolerance
structr2__controller__ns_1_1R2JointTrajectoryActionController_1_1Segment.html
adc94925f93bc2329bfd7148dd9527600
std::vector< Spline >
splines
structr2__controller__ns_1_1R2JointTrajectoryActionController_1_1Segment.html
adec45217b2aa2023ad00535a4ef1c9ca
double
start_time
structr2__controller__ns_1_1R2JointTrajectoryActionController_1_1Segment.html
a48a5b1454c636bf416f8d024a46f83f4
std::vector< JointTolerance >
trajectory_tolerance
structr2__controller__ns_1_1R2JointTrajectoryActionController_1_1Segment.html
a395b9f9f623e5ab1fec0de1ea32ce826
r2_controller_ns::R2JointTrajectoryActionController::Spline
structr2__controller__ns_1_1R2JointTrajectoryActionController_1_1Spline.html
Spline
structr2__controller__ns_1_1R2JointTrajectoryActionController_1_1Spline.html
a6a70ffa9f893ac45a826cdec828fb017
()
std::vector< double >
coef
structr2__controller__ns_1_1R2JointTrajectoryActionController_1_1Spline.html
ae78886338a2ee9285b1498e1f88a0285
r2_controller_ns::RTServerGoalHandle
classr2__controller__ns_1_1RTServerGoalHandle.html
RTServerGoalHandle
classr2__controller__ns_1_1RTServerGoalHandle.html
a287fbd8426804840e3f88982ab080168
(GoalHandle &gh, const ResultPtr &preallocated_result=ResultPtr((Result *) NULL))
void
runNonRT
classr2__controller__ns_1_1RTServerGoalHandle.html
aadc49dacd5be861fe59472856602afbe
(const ros::TimerEvent &te)
void
setAborted
classr2__controller__ns_1_1RTServerGoalHandle.html
a8375a827c6dc65c438d6f5839cd05f60
(ResultConstPtr result=ResultConstPtr((Result *) NULL))
void
setSucceeded
classr2__controller__ns_1_1RTServerGoalHandle.html
abdf89e6e43630f1303f13a498025e954
(ResultConstPtr result=ResultConstPtr((Result *) NULL))
bool
valid
classr2__controller__ns_1_1RTServerGoalHandle.html
a4e0e02ca969eb587774ad208fdab5e5a
()
GoalHandle
gh_
classr2__controller__ns_1_1RTServerGoalHandle.html
abf6e18c89420a91e1474cb0665cf96a8
ResultPtr
preallocated_result_
classr2__controller__ns_1_1RTServerGoalHandle.html
a01eadf96d0bb8fffe07ed8ae06ca51ae
actionlib::ServerGoalHandle< Action >
GoalHandle
classr2__controller__ns_1_1RTServerGoalHandle.html
a24c261727a8696331719a2b80266c40d
boost::shared_ptr< Result >
ResultPtr
classr2__controller__ns_1_1RTServerGoalHandle.html
aecf332588846d296d49e3e30582a0aa4
ACTION_DEFINITION
classr2__controller__ns_1_1RTServerGoalHandle.html
ad6cbde2e0b89238753806524d561fb25
(Action)
bool
req_abort_
classr2__controller__ns_1_1RTServerGoalHandle.html
ac4b9d842dfc28a7e44c72ef758364699
ResultConstPtr
req_result_
classr2__controller__ns_1_1RTServerGoalHandle.html
a3da150f125d0e7c96cce181cc1d5b95b
bool
req_succeed_
classr2__controller__ns_1_1RTServerGoalHandle.html
a472f3203110f1efe5200a7da9ede70c8
uint8_t
state_
classr2__controller__ns_1_1RTServerGoalHandle.html
ad84163f07ff852210f0d4b425602bf7e
r2_gaze_controller
namespacer2__gaze__controller.html
r2_gaze_controller::Convert
r2_gaze_controller::R2GazeController
r2_gaze_controller::R2GazeIK
int
GetIndexFromName
namespacer2__gaze__controller.html
a3d530b27b4a08aca5353dca49a643b3f
(const std::vector< std::string > &nameArray, const std::string &name)
void
print_pose
namespacer2__gaze__controller.html
a3be7050d43b3bdaaeee6949284e1c4e2
(const KDL::Frame &frame, const std::string &name)
bool
pseudoInverse
namespacer2__gaze__controller.html
aa78bc23e364d57f2336b119fe2163926
(const _Matrix_Type_ &a, _Matrix_Type_ &result, double epsilon=std::numeric_limits< typename _Matrix_Type_::Scalar >::epsilon())
r2_gaze_controller::Convert
structr2__gaze__controller_1_1Convert.html
static void
toEigenVector
structr2__gaze__controller_1_1Convert.html
ad721ccb653e6c899e2f63fe794c8e7c3
(const KDL::Frame &in, Eigen::Vector3d &out)
static void
toJntArray
structr2__gaze__controller_1_1Convert.html
a506f908459804374bb118063c2993cfe
(const Eigen::VectorXd &in, KDL::JntArray &out)
r2_gaze_controller::R2GazeController
classr2__gaze__controller_1_1R2GazeController.html
bool
initialize
classr2__gaze__controller_1_1R2GazeController.html
ad0c78077f28d19ae0905444589b16f24
()
R2GazeController
classr2__gaze__controller_1_1R2GazeController.html
a189cc42c0bc9bb79ac4ec59a8b219e11
(const ros::NodeHandle &handle, const std::string &rootName, const std::string &tipName)
~R2GazeController
classr2__gaze__controller_1_1R2GazeController.html
a365055f42aa992d9d39cd0ae83c6f1a6
()
KDL::Segment
createVirtualSegment
classr2__gaze__controller_1_1R2GazeController.html
af860bda3c4f350de4b2b837b3f392a18
()
double
getWeight
classr2__gaze__controller_1_1R2GazeController.html
a556c95e9689f748a85cdcb188ea75ea6
(const std::string ¶mName)
Eigen::MatrixXd
getWeightMatrix
classr2__gaze__controller_1_1R2GazeController.html
a7ef2eb8bf826bd046414f1689901b197
()
void
look_at_cb
classr2__gaze__controller_1_1R2GazeController.html
ab78a7c5035b6d43d579a5a32d74b8668
(const geometry_msgs::PoseStamped::ConstPtr &pose_msg)
void
publishNeckCmd
classr2__gaze__controller_1_1R2GazeController.html
a4c8973f6345316fed4f0189eea5c9a41
(const KDL::JntArray &q_cmd)
void
serializeToMsg
classr2__gaze__controller_1_1R2GazeController.html
a443100bbd5fa041875c160c2e49fa751
(const KDL::JntArray &q, sensor_msgs::JointState &cmdMsg)
void
setupRosTopics
classr2__gaze__controller_1_1R2GazeController.html
aaabc9c800d4c8725e0ecfef3727b7dfb
(const std::string &lookAtTopicName, const std::string &neckJointCmdTopicName)
void
transformToRootFrame
classr2__gaze__controller_1_1R2GazeController.html
a0dd2a1e217d276993369175304d076f8
(const geometry_msgs::PoseStamped::ConstPtr &pose_msg, KDL::Frame &frame)
KDL::Frame
F_desired
classr2__gaze__controller_1_1R2GazeController.html
a99d674e6f26ddb07aefb43a5bc2d6745
boost::scoped_ptr< r2_gaze_controller::R2GazeIK >
ikPtr
classr2__gaze__controller_1_1R2GazeController.html
ac9706c280b57f08908a6fe03dd08853f
sensor_msgs::JointState
jntCmdMsg
classr2__gaze__controller_1_1R2GazeController.html
a8e54c0454ce65774edebe80e8f638ad2
ros::Subscriber
jointStateSubscriber
classr2__gaze__controller_1_1R2GazeController.html
a74a90fd356eba9a032115bf80c922066
boost::scoped_ptr< tf::MessageFilter< geometry_msgs::PoseStamped > >
lookAtFilter
classr2__gaze__controller_1_1R2GazeController.html
a641a5d8960de720585c2b543643a8e1c
message_filters::Subscriber< geometry_msgs::PoseStamped >
lookAtSubscriber
classr2__gaze__controller_1_1R2GazeController.html
a14ba77412861b1112852b38a68004ca9
ros::Publisher
neckCmdPublisher
classr2__gaze__controller_1_1R2GazeController.html
a90005f2d14431c6a7562e5bf9ae4094e
ros::NodeHandle
nodeHandle
classr2__gaze__controller_1_1R2GazeController.html
ae3c4a15a048fb6c0a891bb49b7ec88d5
KDL::JntArray
q_cmd
classr2__gaze__controller_1_1R2GazeController.html
a61da0a32e0b33780ace4426d734fa904
KDL::JntArray
q_init
classr2__gaze__controller_1_1R2GazeController.html
a5c2d52a60745fea5841a87643d99c579
std::string
rootName
classr2__gaze__controller_1_1R2GazeController.html
a6f40139e652ae8bbc6c79078760c81f8
std::string
tipName
classr2__gaze__controller_1_1R2GazeController.html
a2b666f531086004059dcc5279dcea048
tf::TransformListener
transformListener
classr2__gaze__controller_1_1R2GazeController.html
a0b3db82cf4ea2546d1573320814fdea5
r2_gaze_controller::R2GazeIK
classr2__gaze__controller_1_1R2GazeIK.html
int
computeSolution
classr2__gaze__controller_1_1R2GazeIK.html
a5bcc4cf00cfd6c5c96b43a0e2d11cd0d
(const Eigen::VectorXd &q_act, const KDL::Frame &desired_frame, Eigen::VectorXd &q)
int
computeSolution
classr2__gaze__controller_1_1R2GazeIK.html
a927bdeb9029897de6fb4952bd0864d9b
(const KDL::JntArray &q_act, const KDL::Frame &desired_frame, KDL::JntArray &q)
R2GazeIK
classr2__gaze__controller_1_1R2GazeIK.html
a477b30e5c095409df4f6c85f1f1d5231
(const KDL::Chain &chain)
void
setWeightMatrix
classr2__gaze__controller_1_1R2GazeIK.html
a5556ad018ba87b68fa586cbd3def0f6a
(const Eigen::VectorXd &w)
void
setWeightMatrix
classr2__gaze__controller_1_1R2GazeIK.html
a6429e06138e2d70304f75a41727b37e7
(const Eigen::MatrixXd &W)
~R2GazeIK
classr2__gaze__controller_1_1R2GazeIK.html
ad71eec7859e14f7def9c85b995df6bd4
()
Eigen::DiagonalMatrix< double, Eigen::Dynamic >
DiagMatrix
classr2__gaze__controller_1_1R2GazeIK.html
ae3ec72122971f6096920ccfbfee88805
Eigen::MatrixXd
Jacobian
classr2__gaze__controller_1_1R2GazeIK.html
afdaafacbffcb777f2db2628caffa3107
double
computeDelta
classr2__gaze__controller_1_1R2GazeIK.html
af6a2980a09bd718ec3da0fd3c4cfe52c
(const Eigen::VectorXd &q, const KDL::Frame &desired_frame, Eigen::VectorXd &del_q)
KDL::Chain
chain
classr2__gaze__controller_1_1R2GazeIK.html
a2f9bc1207977c4ece4bbeeabc0af0f6e
Eigen::VectorXd
del_q
classr2__gaze__controller_1_1R2GazeIK.html
a4b79412cf161c20287b8cabd706f86aa
double
dt
classr2__gaze__controller_1_1R2GazeIK.html
a953e09d2a0da8e9af8b0d0f01046a4a9
Eigen::Vector3d
e
classr2__gaze__controller_1_1R2GazeIK.html
a9a3c0f3c4d3bc02b509557e1c36d6e94
KDL::ChainFkSolverPos_recursive
fk
classr2__gaze__controller_1_1R2GazeIK.html
ac7a050dda1cbbfb8051223776b5912d2
KDL::Jacobian
J_kdl
classr2__gaze__controller_1_1R2GazeIK.html
a6359a3c89be5e04a21093454f93c87ef
Jacobian
J_partial
classr2__gaze__controller_1_1R2GazeIK.html
a16666a27c91e96d8d39d3aeeb2f2f39a
KDL::ChainJntToJacSolver
jacobian_solver
classr2__gaze__controller_1_1R2GazeIK.html
ace75a27afccf817ab62ccfe27c61448c
Jacobian
Jw
classr2__gaze__controller_1_1R2GazeIK.html
a4eb65de147cf0c44a0bfa65d34e98aa9
Jacobian
Jwt
classr2__gaze__controller_1_1R2GazeIK.html
ae3c05262299eebf5e9c657b21ed78117
Jacobian
Jwt_inv
classr2__gaze__controller_1_1R2GazeIK.html
ae974de1be2da946c099fa88642cc0054
int
maxSolverAttempts
classr2__gaze__controller_1_1R2GazeIK.html
a07378b32810ebf2a09987913666759b1
int
N
classr2__gaze__controller_1_1R2GazeIK.html
a41e612d6d54370a28f50d0e9255ac376
Eigen::Vector3d
p
classr2__gaze__controller_1_1R2GazeIK.html
a314a1e044136f8c50231ae77b95220aa
Eigen::Vector3d
p_d
classr2__gaze__controller_1_1R2GazeIK.html
ae1b075e6523342fa924e3bbf9c5eacdd
DiagMatrix
Q
classr2__gaze__controller_1_1R2GazeIK.html
a2c99a80499b190813aea1dd931780af9
KDL::JntArray
q_kdl
classr2__gaze__controller_1_1R2GazeIK.html
a815602b9bf21b087b99f5ef0170cd615
Eigen::VectorXd
q_local
classr2__gaze__controller_1_1R2GazeIK.html
abd418c453da2eae326f86d00b8d537c7
DiagMatrix
Qinv
classr2__gaze__controller_1_1R2GazeIK.html
a74128e9afacb26015c3ece36a87b4a21
r2_gazebo_controller_test
namespacer2__gazebo__controller__test.html
def
send_command_data
namespacer2__gazebo__controller__test.html
a1417d0af8c3ffcdaefb912bca0bd0061
r2_readypose
namespacer2__readypose.html
def
send_command_data
namespacer2__readypose.html
aa4ddd1768aa73e05c0b326e52f123786