Public Member Functions
	cob_trajectory_controller_node ()
	cob_trajectory_controller_node ()
void	executeFollowTrajectory (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
void	executeFollowTrajectory (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
double	getFrequency ()
double	getFrequency ()
void	joint_state_callback (const sensor_msgs::JointStatePtr &message)
void	operationmode_callback (const std_msgs::StringPtr &message)
void	operationmode_callback (const std_msgs::StringPtr &message)
void	run ()
void	run ()
void	spawnTrajector (trajectory_msgs::JointTrajectory trajectory)
void	spawnTrajector (trajectory_msgs::JointTrajectory trajectory)
bool	srvCallback_setAcc (cob_trajectory_controller::SetFloat::Request &req, cob_trajectory_controller::SetFloat::Response &res)
bool	srvCallback_setAcc (cob_trajectory_controller::SetFloat::Request &req, cob_trajectory_controller::SetFloat::Response &res)
bool	srvCallback_setVel (cob_trajectory_controller::SetFloat::Request &req, cob_trajectory_controller::SetFloat::Response &res)
bool	srvCallback_setVel (cob_trajectory_controller::SetFloat::Request &req, cob_trajectory_controller::SetFloat::Response &res)
bool	srvCallback_Stop (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
bool	srvCallback_Stop (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
void	state_callback (const control_msgs::JointTrajectoryControllerStatePtr &message)
void	state_callback (const control_msgs::JointTrajectoryControllerStatePtr &message)
Private Attributes
std::string	action_name_follow_
actionlib::SimpleActionServer < control_msgs::FollowJointTrajectoryAction >	as_follow_
ros::Subscriber	controller_state_
std::string	current_operation_mode_
int	DOF
bool	executing_
bool	failure_
std::vector< double >	joint_distance_
ros::Subscriber	joint_state_sub_
ros::Publisher	joint_vel_pub_
std::vector< std::string >	JointNames_
XmlRpc::XmlRpcValue	JointNames_param_
ros::NodeHandle	n_
ros::Subscriber	operation_mode_
bool	preemted_
std::vector< double >	q_current
bool	rejected_
ros::ServiceClient	srvClient_SetOperationMode
ros::ServiceServer	srvServer_SetAcc_
ros::ServiceServer	srvServer_SetVel_
ros::ServiceServer	srvServer_Stop_
std::vector< double >	startposition_
trajectory_msgs::JointTrajectory	traj_
trajectory_msgs::JointTrajectory	traj_2_
genericArmCtrl *	traj_generator_
double	velocity_timeout_
int	watchdog_counter

Detailed Description

Definition at line 78 of file cob_trajectory_controller.cpp.

Constructor & Destructor Documentation

cob_trajectory_controller_node::cob_trajectory_controller_node ( ) [inline]

Definition at line 115 of file cob_trajectory_controller.cpp.

cob_trajectory_controller_node::cob_trajectory_controller_node ( ) [inline]

Definition at line 115 of file cob_trajectory_controller_sim.cpp.

Member Function Documentation

void cob_trajectory_controller_node::executeFollowTrajectory ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal ) [inline]

Definition at line 372 of file cob_trajectory_controller.cpp.

void cob_trajectory_controller_node::executeFollowTrajectory ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal ) [inline]

Definition at line 387 of file cob_trajectory_controller_sim.cpp.

double cob_trajectory_controller_node::getFrequency ( ) [inline]

Definition at line 184 of file cob_trajectory_controller.cpp.

double cob_trajectory_controller_node::getFrequency ( ) [inline]

Definition at line 184 of file cob_trajectory_controller_sim.cpp.

void cob_trajectory_controller_node::joint_state_callback ( const sensor_msgs::JointStatePtr & message ) [inline]

Definition at line 244 of file cob_trajectory_controller_sim.cpp.

void cob_trajectory_controller_node::operationmode_callback ( const std_msgs::StringPtr & message ) [inline]

Definition at line 227 of file cob_trajectory_controller.cpp.

void cob_trajectory_controller_node::operationmode_callback ( const std_msgs::StringPtr & message ) [inline]

Definition at line 229 of file cob_trajectory_controller_sim.cpp.

void cob_trajectory_controller_node::run ( ) [inline]

Definition at line 390 of file cob_trajectory_controller.cpp.

void cob_trajectory_controller_node::run ( ) [inline]

Definition at line 405 of file cob_trajectory_controller_sim.cpp.

void cob_trajectory_controller_node::spawnTrajector ( trajectory_msgs::JointTrajectory trajectory ) [inline]

Definition at line 240 of file cob_trajectory_controller.cpp.

void cob_trajectory_controller_node::spawnTrajector ( trajectory_msgs::JointTrajectory trajectory ) [inline]

Definition at line 256 of file cob_trajectory_controller_sim.cpp.

bool cob_trajectory_controller_node::srvCallback_setAcc	(	cob_trajectory_controller::SetFloat::Request &	req,
		cob_trajectory_controller::SetFloat::Response &	res
	)		`[inline]`

Definition at line 219 of file cob_trajectory_controller.cpp.

bool cob_trajectory_controller_node::srvCallback_setAcc	(	cob_trajectory_controller::SetFloat::Request &	req,
		cob_trajectory_controller::SetFloat::Response &	res
	)		`[inline]`

Definition at line 221 of file cob_trajectory_controller_sim.cpp.

bool cob_trajectory_controller_node::srvCallback_setVel	(	cob_trajectory_controller::SetFloat::Request &	req,
		cob_trajectory_controller::SetFloat::Response &	res
	)		`[inline]`

Definition at line 212 of file cob_trajectory_controller.cpp.

bool cob_trajectory_controller_node::srvCallback_setVel	(	cob_trajectory_controller::SetFloat::Request &	req,
		cob_trajectory_controller::SetFloat::Response &	res
	)		`[inline]`