Class providing a ControllerInterface publishing a JointTrajectory. More...

Inheritance diagram for cob_twist_controller::ControllerInterfaceTrajectory:

Public Member Functions
	ControllerInterfaceTrajectory ()
virtual void	initialize (ros::NodeHandle &nh, const TwistControllerParams &params)
virtual void	processResult (const KDL::JntArray &q_dot_ik, const KDL::JntArray &current_q)
	~ControllerInterfaceTrajectory ()

Detailed Description

Class providing a ControllerInterface publishing a JointTrajectory.

Definition at line 70 of file controller_interface.h.

Constructor & Destructor Documentation

cob_twist_controller::ControllerInterfaceTrajectory::ControllerInterfaceTrajectory ( ) [inline]

Definition at line 73 of file controller_interface.h.

cob_twist_controller::ControllerInterfaceTrajectory::~ControllerInterfaceTrajectory ( ) [inline]

Definition at line 74 of file controller_interface.h.

void cob_twist_controller::ControllerInterfaceTrajectory::initialize	(	ros::NodeHandle &	nh,
		const TwistControllerParams &	params
	)		`[virtual]`

Definition at line 79 of file controller_interface.cpp.

void cob_twist_controller::ControllerInterfaceTrajectory::processResult	(	const KDL::JntArray &	q_dot_ik,
		const KDL::JntArray &	current_q
	)		`[inline, virtual]`

Method processing the result using integration method (Simpson) and publishing to the 'joint_trajectory_controller/command' topic.

publish to interface

Definition at line 91 of file controller_interface.cpp.

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