lwr::CartImpTrajectory Class Reference

#include <CartImpTrajectory.h>

Inheritance diagram for lwr::CartImpTrajectory:

List of all members.

Public Member Functions
	CartImpTrajectory (const std::string &name)
virtual void	cleanupHook ()
virtual bool	configureHook ()
virtual bool	startHook ()
virtual void	stopHook ()
virtual void	updateHook ()
virtual	~CartImpTrajectory ()
Private Member Functions
double	linearlyInterpolate (double time, double startTime, double endTime, double startValue, double endValue)
lwr_impedance_controller::CartImpTrajectoryPoint	sampleInterpolation ()
Private Attributes
KDL::Frame	cart_pos_cmd
geometry_msgs::Pose	cart_pos_msr
KDL::Frame	cart_pos_old
double	dt_
lwr_impedance_controller::CartImpTrajectoryPoint	last_point_
InputPort < lwr_impedance_controller::CartImpTrajectory >	port_cart_imp_trajectory_cmd
InputPort< geometry_msgs::Pose >	port_cart_pos_msr
OutputPort< geometry_msgs::Pose >	port_cart_position_cmd
OutputPort< geometry_msgs::Wrench >	port_cart_wrench_cmd
OutputPort < lwr_impedance_controller::CartesianImpedance >	port_cartesian_impedance_cmd
InputPort< geometry_msgs::Pose >	port_desired_cartesian_position
OutputPort< geometry_msgs::Pose >	port_tool_frame
lwr_impedance_controller::CartImpTrajectoryPoint	setpoint_
unsigned int	time_
KDL::Frame	tool_frame
lwr_impedance_controller::CartImpTrajectory	trajectory_
unsigned int	trajectory_index_
lwr_impedance_controller::CartImpTrajectory	trajectory_tmp_
bool	valid_trajectory_

---

Detailed Description

Definition at line 29 of file CartImpTrajectory.h.

---

Constructor & Destructor Documentation

lwr::CartImpTrajectory::CartImpTrajectory

(

const std::string &

name

)

Definition at line 15 of file CartImpTrajectory.cpp.

lwr::CartImpTrajectory::~CartImpTrajectory

(

)

[virtual]

Definition at line 28 of file CartImpTrajectory.cpp.

---

Member Function Documentation

void lwr::CartImpTrajectory::cleanupHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 36 of file CartImpTrajectory.cpp.

bool lwr::CartImpTrajectory::configureHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 32 of file CartImpTrajectory.cpp.

double lwr::CartImpTrajectory::linearlyInterpolate	(	double	time,
		double	startTime,
		double	endTime,
		double	startValue,
		double	endValue
	)		[private]

Definition at line 148 of file CartImpTrajectory.cpp.

lwr_impedance_controller::CartImpTrajectoryPoint lwr::CartImpTrajectory::sampleInterpolation

(

)

[private]

Definition at line 159 of file CartImpTrajectory.cpp.

bool lwr::CartImpTrajectory::startHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 40 of file CartImpTrajectory.cpp.

void lwr::CartImpTrajectory::stopHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 103 of file CartImpTrajectory.cpp.

void lwr::CartImpTrajectory::updateHook

(

)

[virtual]

do interpolation

Reimplemented from RTT::base::TaskCore.

Definition at line 107 of file CartImpTrajectory.cpp.

---

Member Data Documentation

KDL::Frame lwr::CartImpTrajectory::cart_pos_cmd [private]

Definition at line 63 of file CartImpTrajectory.h.

geometry_msgs::Pose lwr::CartImpTrajectory::cart_pos_msr [private]

Definition at line 62 of file CartImpTrajectory.h.

KDL::Frame lwr::CartImpTrajectory::cart_pos_old [private]

Definition at line 63 of file CartImpTrajectory.h.

double lwr::CartImpTrajectory::dt_ [private]

Definition at line 69 of file CartImpTrajectory.h.

lwr_impedance_controller::CartImpTrajectoryPoint lwr::CartImpTrajectory::last_point_ [private]

Definition at line 67 of file CartImpTrajectory.h.

InputPort<lwr_impedance_controller::CartImpTrajectory> lwr::CartImpTrajectory::port_cart_imp_trajectory_cmd [private]

Definition at line 49 of file CartImpTrajectory.h.

InputPort<geometry_msgs::Pose> lwr::CartImpTrajectory::port_cart_pos_msr [private]

Definition at line 50 of file CartImpTrajectory.h.

OutputPort<geometry_msgs::Pose> lwr::CartImpTrajectory::port_cart_position_cmd [private]

Definition at line 55 of file CartImpTrajectory.h.

OutputPort<geometry_msgs::Wrench> lwr::CartImpTrajectory::port_cart_wrench_cmd [private]

Definition at line 54 of file CartImpTrajectory.h.

OutputPort<lwr_impedance_controller::CartesianImpedance> lwr::CartImpTrajectory::port_cartesian_impedance_cmd [private]

Definition at line 53 of file CartImpTrajectory.h.

InputPort<geometry_msgs::Pose> lwr::CartImpTrajectory::port_desired_cartesian_position [private]

Definition at line 51 of file CartImpTrajectory.h.

OutputPort<geometry_msgs::Pose> lwr::CartImpTrajectory::port_tool_frame [private]

Definition at line 56 of file CartImpTrajectory.h.

lwr_impedance_controller::CartImpTrajectoryPoint lwr::CartImpTrajectory::setpoint_ [private]

Definition at line 58 of file CartImpTrajectory.h.

unsigned int lwr::CartImpTrajectory::time_ [private]

Definition at line 68 of file CartImpTrajectory.h.

KDL::Frame lwr::CartImpTrajectory::tool_frame [private]

Definition at line 63 of file CartImpTrajectory.h.

lwr_impedance_controller::CartImpTrajectory lwr::CartImpTrajectory::trajectory_ [private]

Definition at line 60 of file CartImpTrajectory.h.

unsigned int lwr::CartImpTrajectory::trajectory_index_ [private]

Definition at line 66 of file CartImpTrajectory.h.

lwr_impedance_controller::CartImpTrajectory lwr::CartImpTrajectory::trajectory_tmp_ [private]

Definition at line 59 of file CartImpTrajectory.h.

bool lwr::CartImpTrajectory::valid_trajectory_ [private]

Definition at line 65 of file CartImpTrajectory.h.

---

The documentation for this class was generated from the following files:

• CartImpTrajectory.h
• CartImpTrajectory.cpp