lwr::VelocityProjector Class Reference

#include <VelocityProjection.h>

Inheritance diagram for lwr::VelocityProjector:

List of all members.

Public Member Functions
virtual void	cleanupHook ()
virtual bool	configureHook ()
virtual bool	startHook ()
virtual void	stopHook ()
virtual void	updateHook ()
	VelocityProjector (const std::string &name)
virtual	~VelocityProjector ()
Private Attributes
KDL::Twist	cart_vel
geometry_msgs::Twist	cart_vel_cmd
double	dt
KDL::Jacobian	jacobian
std::vector< double >	jnt_pos_cmd
std::vector< double >	jnt_pos_des
std::vector< double >	null_vel_cmd
InputPort< geometry_msgs::Twist >	port_cartesian_velocity_command
InputPort< double >	port_command_period
OutputPort< geometry_msgs::Pose >	port_desired_cartesian_position
InputPort< KDL::Jacobian >	port_jacobian
InputPort< std::vector< double > >	port_jnt_pos_des
OutputPort< std::vector< double > >	port_joint_position_command
InputPort< Matrix77d >	port_mass_matrix
InputPort< std::vector< double > >	port_nullspace_velocity_command
InputPort< geometry_msgs::Pose >	port_tool_frame
KDL::Frame	tool_frame

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Detailed Description

Definition at line 31 of file VelocityProjection.h.

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Constructor & Destructor Documentation

lwr::VelocityProjector::VelocityProjector

(

const std::string &

name

)

Definition at line 16 of file VelocityProjection.cpp.

lwr::VelocityProjector::~VelocityProjector

(

)

[virtual]

Definition at line 31 of file VelocityProjection.cpp.

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Member Function Documentation

void lwr::VelocityProjector::cleanupHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 39 of file VelocityProjection.cpp.

bool lwr::VelocityProjector::configureHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 35 of file VelocityProjection.cpp.

bool lwr::VelocityProjector::startHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 43 of file VelocityProjection.cpp.

void lwr::VelocityProjector::stopHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 64 of file VelocityProjection.cpp.

void lwr::VelocityProjector::updateHook

(

)

[virtual]

Reimplemented from RTT::base::TaskCore.

Definition at line 68 of file VelocityProjection.cpp.

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Member Data Documentation

KDL::Twist lwr::VelocityProjector::cart_vel [private]

Definition at line 60 of file VelocityProjection.h.

geometry_msgs::Twist lwr::VelocityProjector::cart_vel_cmd [private]

Definition at line 59 of file VelocityProjection.h.

double lwr::VelocityProjector::dt [private]

Definition at line 55 of file VelocityProjection.h.

KDL::Jacobian lwr::VelocityProjector::jacobian [private]

Definition at line 61 of file VelocityProjection.h.

std::vector<double> lwr::VelocityProjector::jnt_pos_cmd [private]

Definition at line 57 of file VelocityProjection.h.

std::vector<double> lwr::VelocityProjector::jnt_pos_des [private]

Definition at line 56 of file VelocityProjection.h.

std::vector<double> lwr::VelocityProjector::null_vel_cmd [private]

Definition at line 58 of file VelocityProjection.h.

InputPort<geometry_msgs::Twist> lwr::VelocityProjector::port_cartesian_velocity_command [private]

Definition at line 48 of file VelocityProjection.h.

InputPort<double> lwr::VelocityProjector::port_command_period [private]

Definition at line 50 of file VelocityProjection.h.

OutputPort<geometry_msgs::Pose> lwr::VelocityProjector::port_desired_cartesian_position [private]

Definition at line 45 of file VelocityProjection.h.

InputPort<KDL::Jacobian> lwr::VelocityProjector::port_jacobian [private]

Definition at line 47 of file VelocityProjection.h.

InputPort<std::vector<double> > lwr::VelocityProjector::port_jnt_pos_des [private]

Definition at line 51 of file VelocityProjection.h.

OutputPort<std::vector<double> > lwr::VelocityProjector::port_joint_position_command [private]

Definition at line 43 of file VelocityProjection.h.

InputPort<Matrix77d> lwr::VelocityProjector::port_mass_matrix [private]

Definition at line 53 of file VelocityProjection.h.

InputPort<std::vector<double> > lwr::VelocityProjector::port_nullspace_velocity_command [private]

Definition at line 52 of file VelocityProjection.h.

InputPort<geometry_msgs::Pose> lwr::VelocityProjector::port_tool_frame [private]

Definition at line 49 of file VelocityProjection.h.

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

Definition at line 62 of file VelocityProjection.h.

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

• VelocityProjection.h
• VelocityProjection.cpp