allegroNode_sleep.cpp File Reference

#include <iostream>
#include <boost/thread/thread.hpp>
#include <boost/date_time.hpp>
#include <boost/thread/locks.hpp>
#include "ros/ros.h"
#include "ros/service.h"
#include "ros/service_server.h"
#include "sensor_msgs/JointState.h"
#include "BHand/BHand.h"
#include "controlAllegroHand.h"

Include dependency graph for allegroNode_sleep.cpp:

Go to the source code of this file.

Defines
#define	JOINT_CMD_TOPIC   "/allegro/joint_cmd"
#define	JOINT_STATE_TOPIC   "/allegro/joint_state"
Functions
int	main (int argc, char **argv)
void	SetjointCallback (const sensor_msgs::JointState &msg)
Variables
double	curr_position [DOF_JOINTS]
double	curr_torque [DOF_JOINTS]
double	desire_position [DOF_JOINTS]
double	desire_torque [DOF_JOINTS]
eMotionType	gMotionType = eMotionType_NONE
ros::Subscriber	joint_cmd_sub
ros::Publisher	joint_state_pub
sensor_msgs::JointState	msgJoint
boost::mutex *	mutex
double	out_torque [DOF_JOINTS]
ros::Time	tend
ros::Time	tstart

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Define Documentation

#define JOINT_CMD_TOPIC   "/allegro/joint_cmd"

Definition at line 21 of file allegroNode_sleep.cpp.

#define JOINT_STATE_TOPIC   "/allegro/joint_state"

Definition at line 20 of file allegroNode_sleep.cpp.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 57 of file allegroNode_sleep.cpp.

void SetjointCallback

(

const sensor_msgs::JointState &

msg

)

Definition at line 43 of file allegroNode_sleep.cpp.

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Variable Documentation

double curr_position[DOF_JOINTS]

Definition at line 23 of file allegroNode_sleep.cpp.

double curr_torque[DOF_JOINTS]

Definition at line 24 of file allegroNode_sleep.cpp.

double desire_position[DOF_JOINTS]

Definition at line 25 of file allegroNode_sleep.cpp.

double desire_torque[DOF_JOINTS]

Definition at line 26 of file allegroNode_sleep.cpp.

eMotionType gMotionType = eMotionType_NONE

Definition at line 37 of file allegroNode_sleep.cpp.

ros::Subscriber joint_cmd_sub

Definition at line 33 of file allegroNode_sleep.cpp.

ros::Publisher joint_state_pub

Definition at line 32 of file allegroNode_sleep.cpp.

sensor_msgs::JointState msgJoint

Definition at line 34 of file allegroNode_sleep.cpp.

boost::mutex* mutex

Definition at line 31 of file allegroNode_sleep.cpp.

double out_torque[DOF_JOINTS]

Definition at line 28 of file allegroNode_sleep.cpp.

ros::Time tend

Definition at line 40 of file allegroNode_sleep.cpp.

ros::Time tstart

Definition at line 39 of file allegroNode_sleep.cpp.