#include <cartesian_trajectory_controller.h>

Inheritance diagram for pr2_manipulation_controllers::CartesianTrajectoryController:

Public Member Functions
	CartesianTrajectoryController ()
bool	checkMoving (pr2_manipulation_controllers::CheckMoving::Request &req, pr2_manipulation_controllers::CheckMoving::Response &res)
bool	init (pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &n)
bool	moveTo (const geometry_msgs::PoseStamped &pose, const geometry_msgs::Twist &tolerance=geometry_msgs::Twist(), double duration=0)
void	starting ()
void	update ()
	~CartesianTrajectoryController ()
Private Member Functions
void	command (const tf::MessageFilter< geometry_msgs::PoseStamped >::MConstPtr &pose_msg)
KDL::Frame	getPose ()
bool	moveTo (pr2_manipulation_controllers::MoveToPose::Request &req, pr2_manipulation_controllers::MoveToPose::Response &resp)
bool	preempt (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
void	TransformToFrame (const tf::Transform &trans, KDL::Frame &frame)
Private Attributes
pr2_mechanism_model::Chain	chain_
ros::ServiceServer	check_moving_srv_
std::string	controller_name_
bool	exceed_tolerance_
bool	is_moving_
KDL::JntArray	jnt_pos_
boost::scoped_ptr < KDL::ChainFkSolverPos >	jnt_to_pose_solver_
KDL::Chain	kdl_chain_
ros::Time	last_time_
double	max_duration_
std::vector < KDL::VelocityProfile_Trap >	motion_profile_
ros::ServiceServer	move_to_srv_
ros::NodeHandle	node_
KDL::Frame	pose_begin_
CartesianPoseController *	pose_controller_
KDL::Frame	pose_current_
KDL::Frame	pose_end_
ros::ServiceServer	preempt_srv_
bool	request_preempt_
pr2_mechanism_model::RobotState *	robot_state_
std::string	root_name_
tf::TransformListener	tf_
double	time_passed_
ros::Time	time_started_
KDL::Twist	tolerance_
KDL::Twist	twist_current_

Detailed Description

Definition at line 57 of file cartesian_trajectory_controller.h.

Constructor & Destructor Documentation

pr2_manipulation_controllers::CartesianTrajectoryController::CartesianTrajectoryController ( )

Definition at line 51 of file cartesian_trajectory_controller.cpp.

pr2_manipulation_controllers::CartesianTrajectoryController::~CartesianTrajectoryController ( )

Definition at line 56 of file cartesian_trajectory_controller.cpp.

Member Function Documentation

bool pr2_manipulation_controllers::CartesianTrajectoryController::checkMoving	(	pr2_manipulation_controllers::CheckMoving::Request &	req,
		pr2_manipulation_controllers::CheckMoving::Response &	res
	)

Definition at line 131 of file cartesian_trajectory_controller.cpp.

void pr2_manipulation_controllers::CartesianTrajectoryController::command ( const tf::MessageFilter< geometry_msgs::PoseStamped >::MConstPtr & pose_msg ) [private]

Frame pr2_manipulation_controllers::CartesianTrajectoryController::getPose ( ) [private]

Definition at line 301 of file cartesian_trajectory_controller.cpp.

bool pr2_manipulation_controllers::CartesianTrajectoryController::init	(	pr2_mechanism_model::RobotState *	robot_state,
		ros::NodeHandle &	n
	)		`[virtual]`

Implements pr2_controller_interface::Controller.

Definition at line 60 of file cartesian_trajectory_controller.cpp.

bool pr2_manipulation_controllers::CartesianTrajectoryController::moveTo	(	const geometry_msgs::PoseStamped &	pose,
		const geometry_msgs::Twist &	tolerance = `geometry_msgs::Twist()`,
		double	duration = `0`
	)

Definition at line 140 of file cartesian_trajectory_controller.cpp.

bool pr2_manipulation_controllers::CartesianTrajectoryController::moveTo	(	pr2_manipulation_controllers::MoveToPose::Request &	req,
		pr2_manipulation_controllers::MoveToPose::Response &	resp
	)		`[private]`

Definition at line 314 of file cartesian_trajectory_controller.cpp.

bool pr2_manipulation_controllers::CartesianTrajectoryController::preempt	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)		`[private]`