Trajectory controller handler for the pr2 gripper. More...

#include <pr2_gripper_trajectory_controller_handler.h>

Inheritance diagram for Pr2GripperTrajectoryControllerHandler:

Public Member Functions
void	cancelExecution ()
	cancel the execution of the trajectory. This should be implemented by derived classes.
void	controllerActiveCallback ()
void	controllerDoneCallback (const actionlib::SimpleClientGoalState &state, const pr2_controllers_msgs::Pr2GripperCommandResultConstPtr &result)
void	controllerFeedbackCallback (const pr2_controllers_msgs::Pr2GripperCommandFeedbackConstPtr &feedback)
bool	enableOvershoot (double max_overshoot_velocity_epsilon, ros::Duration min_overshoot_time, ros::Duration max_overshoot_time)
	Gripper does not monitor overshoot. This function returns false;.
bool	executeTrajectory (const trajectory_msgs::JointTrajectory &trajectory, boost::shared_ptr< trajectory_execution_monitor::TrajectoryRecorder > &recorder, const trajectory_execution_monitor::TrajectoryFinishedCallbackFunction &traj_callback)
	Start executing. Gripper will either open or close.
	Pr2GripperTrajectoryControllerHandler (const std::string &group_name, const std::string &controller_name)
Static Public Attributes
static const double	DEFAULT_GRIPPER_OBJECT_PRESENCE_THRESHOLD = 0.0021
static const double	GRIPPER_CLOSED = 0.0
static const double	GRIPPER_OPEN = 0.086
Protected Attributes
actionlib::SimpleActionClient < pr2_controllers_msgs::Pr2GripperCommandAction >	pr2_gripper_action_client_

Detailed Description

Trajectory controller handler for the pr2 gripper.

Author:: E. Gil Jones

Definition at line 46 of file pr2_gripper_trajectory_controller_handler.h.

Constructor & Destructor Documentation

Pr2GripperTrajectoryControllerHandler::Pr2GripperTrajectoryControllerHandler	(	const std::string &	group_name,
		const std::string &	controller_name
	)		`[inline]`

Definition at line 54 of file pr2_gripper_trajectory_controller_handler.h.

Member Function Documentation

void Pr2GripperTrajectoryControllerHandler::cancelExecution ( ) [inline, virtual]

cancel the execution of the trajectory. This should be implemented by derived classes.

Implements trajectory_execution_monitor::TrajectoryControllerHandler.

Definition at line 104 of file pr2_gripper_trajectory_controller_handler.h.

void Pr2GripperTrajectoryControllerHandler::controllerActiveCallback ( ) [inline]

Definition at line 130 of file pr2_gripper_trajectory_controller_handler.h.

void Pr2GripperTrajectoryControllerHandler::controllerDoneCallback	(	const actionlib::SimpleClientGoalState &	state,
		const pr2_controllers_msgs::Pr2GripperCommandResultConstPtr &	result
	)		`[inline]`

Definition at line 107 of file pr2_gripper_trajectory_controller_handler.h.

void Pr2GripperTrajectoryControllerHandler::controllerFeedbackCallback ( const pr2_controllers_msgs::Pr2GripperCommandFeedbackConstPtr & feedback ) [inline]

Definition at line 135 of file pr2_gripper_trajectory_controller_handler.h.

bool Pr2GripperTrajectoryControllerHandler::enableOvershoot	(	double	max_overshoot_velocity_epsilon,
		ros::Duration	min_overshoot_time,
		ros::Duration	max_overshoot_time
	)		`[inline]`

Gripper does not monitor overshoot. This function returns false;.

Reimplemented from trajectory_execution_monitor::TrajectoryControllerHandler.

Definition at line 65 of file pr2_gripper_trajectory_controller_handler.h.

bool Pr2GripperTrajectoryControllerHandler::executeTrajectory	(	const trajectory_msgs::JointTrajectory &	trajectory,
		boost::shared_ptr< trajectory_execution_monitor::TrajectoryRecorder > &	recorder,
		const trajectory_execution_monitor::TrajectoryFinishedCallbackFunction &	traj_callback
	)		`[inline, virtual]`