CobLookatController Class Reference

#include <cob_lookat_controller.h>

List of all members.

Public Member Functions
	CobLookatController ()
void	initialize ()
void	jointstate_cb (const sensor_msgs::JointState::ConstPtr &msg)
void	lookatstate_cb (const sensor_msgs::JointState::ConstPtr &msg)
void	run ()
void	safety_stop_tracking ()
void	twist_cb (const geometry_msgs::Twist::ConstPtr &msg)
	~CobLookatController ()
Private Attributes
KDL::Chain	chain_
std::string	chain_base_
unsigned int	chain_dof_
std::vector< std::string >	chain_joints_
std::vector< float >	chain_limits_vel_
std::string	chain_tip_
ros::Publisher	chain_vel_pub
std::string	chain_vel_pub_topic_
ros::Subscriber	jointstate_sub
KDL::JntArray	last_q_
KDL::JntArray	last_q_dot_
unsigned int	lookat_dof_
std::vector< std::string >	lookat_joints_
ros::Publisher	lookat_vel_pub
ros::Subscriber	lookatstate_sub
ros::NodeHandle	nh_
KDL::ChainIkSolverVel_pinv *	p_iksolver_vel_
KDL::ChainIkSolverVel_wdls *	p_iksolver_vel_wdls_
tf::TransformListener	tf_listener_
unsigned int	total_dof_
std::vector< std::string >	total_joints_
ros::Subscriber	twist_sub

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Detailed Description

Definition at line 48 of file cob_lookat_controller.h.

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Constructor & Destructor Documentation

CobLookatController::CobLookatController

(

)

[inline]

Definition at line 81 of file cob_lookat_controller.h.

CobLookatController::~CobLookatController

(

)

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Member Function Documentation

void CobLookatController::initialize

(

)

get params

parse robot_description and set velocity limits

old stuff

parse robot_description and generate KDL chains

initialize configuration control solver

set weights for JointSpace

weight of joint 1 (R torso 1)

weight of joint 2 (R torso 2)

weight of joint 3 (R torso 3)

weight of joint 4 (P lookat 1)

weight of joint 5 (R lookat 2)

weight of joint 6 (R lookat 3)

weight of joint 7 (R lookat 4)

set weights for TaskSpace

set Lambda

initialize ROS interfaces

initialize variables and current joint values and velocities

Definition at line 39 of file cob_lookat_controller.cpp.

void CobLookatController::jointstate_cb

(

const sensor_msgs::JointState::ConstPtr &

msg

)

Definition at line 260 of file cob_lookat_controller.cpp.

void CobLookatController::lookatstate_cb

(

const sensor_msgs::JointState::ConstPtr &

msg

)

void CobLookatController::run

(

)

Definition at line 168 of file cob_lookat_controller.cpp.

void CobLookatController::safety_stop_tracking

(

)

Definition at line 330 of file cob_lookat_controller.cpp.

void CobLookatController::twist_cb

(

const geometry_msgs::Twist::ConstPtr &

msg

)

ToDo: Verify this transformation

Definition at line 175 of file cob_lookat_controller.cpp.

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Member Data Documentation

KDL::Chain CobLookatController::chain_ [private]

Definition at line 61 of file cob_lookat_controller.h.

std::string CobLookatController::chain_base_ [private]

Definition at line 62 of file cob_lookat_controller.h.

unsigned int CobLookatController::chain_dof_ [private]

Definition at line 71 of file cob_lookat_controller.h.

std::vector<std::string> CobLookatController::chain_joints_ [private]

Definition at line 68 of file cob_lookat_controller.h.

std::vector<float> CobLookatController::chain_limits_vel_ [private]

Definition at line 74 of file cob_lookat_controller.h.

std::string CobLookatController::chain_tip_ [private]

Definition at line 63 of file cob_lookat_controller.h.

ros::Publisher CobLookatController::chain_vel_pub [private]

Definition at line 57 of file cob_lookat_controller.h.

std::string CobLookatController::chain_vel_pub_topic_ [private]

Definition at line 59 of file cob_lookat_controller.h.

ros::Subscriber CobLookatController::jointstate_sub [private]

Definition at line 54 of file cob_lookat_controller.h.

KDL::JntArray CobLookatController::last_q_ [private]

Definition at line 76 of file cob_lookat_controller.h.

KDL::JntArray CobLookatController::last_q_dot_ [private]

Definition at line 77 of file cob_lookat_controller.h.

unsigned int CobLookatController::lookat_dof_ [private]

Definition at line 72 of file cob_lookat_controller.h.

std::vector<std::string> CobLookatController::lookat_joints_ [private]

Definition at line 69 of file cob_lookat_controller.h.

ros::Publisher CobLookatController::lookat_vel_pub [private]

Definition at line 58 of file cob_lookat_controller.h.

ros::Subscriber CobLookatController::lookatstate_sub [private]

Definition at line 55 of file cob_lookat_controller.h.

ros::NodeHandle CobLookatController::nh_ [private]

Definition at line 51 of file cob_lookat_controller.h.

KDL::ChainIkSolverVel_pinv* CobLookatController::p_iksolver_vel_ [private]

Definition at line 65 of file cob_lookat_controller.h.

KDL::ChainIkSolverVel_wdls* CobLookatController::p_iksolver_vel_wdls_ [private]

Definition at line 66 of file cob_lookat_controller.h.

tf::TransformListener CobLookatController::tf_listener_ [private]

Definition at line 52 of file cob_lookat_controller.h.

unsigned int CobLookatController::total_dof_ [private]

Definition at line 73 of file cob_lookat_controller.h.

std::vector<std::string> CobLookatController::total_joints_ [private]

Definition at line 70 of file cob_lookat_controller.h.

ros::Subscriber CobLookatController::twist_sub [private]

Definition at line 56 of file cob_lookat_controller.h.

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

• cob_lookat_controller.h
• cob_lookat_controller.cpp