#include <posvel_gripper_controller.h>

Inheritance diagram for gripper_controllers::PosVelGripperController:

Public Member Functions
void	cancelCB (GoalHandle gh)
void	checkForSuccess (const ros::Time &time, double error_position, double current_position, double current_velocity, double current_effort, double max_effort)
double	gap2Pos (double gap)
void	goalCB (GoalHandle gh)
bool	init (hardware_interface::PosVelJointInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
	Controller initialization in non-realtime.
double	pos2Gap (double pos)
void	preemptActiveGoal ()
void	setHoldPosition ()
void	starting (const ros::Time &time)
	Controller startup in realtime.
void	stopping ()
	Controller stopping in realtime.
void	update (const ros::Time &time, const ros::Duration &period)
	Controller update loop in realtime.
Private Types
typedef actionlib::ActionServer < control_msgs::GripperCommandAction >	ActionServer
typedef boost::shared_ptr < ActionServer >	ActionServerPtr
typedef ActionServer::GoalHandle	GoalHandle
typedef realtime_tools::RealtimeServerGoalHandle < control_msgs::GripperCommandAction >	RealtimeGoalHandle
typedef boost::shared_ptr < RealtimeGoalHandle >	RealtimeGoalHandlePtr
Private Attributes
double	_lastGap
ros::Duration	action_monitor_period_
ActionServerPtr	action_server_
realtime_tools::RealtimeBuffer < Commands >	command_
Commands	command_struct_
Commands	command_struct_rt_
ros::NodeHandle	controller_nh_
double	default_max_effort_
	Max allowed effort.
ros::Timer	goal_handle_timer_
double	goal_tolerance_
double	joints_vel_
ros::Time	last_movement_time_
hardware_interface::PosVelJointHandle	leftjoint
control_msgs::GripperCommandResultPtr	pre_alloc_result_
hardware_interface::PosVelJointHandle	rightjoint
RealtimeGoalHandlePtr	rt_active_goal_
	Currently active action goal, if any.
double	stall_timeout_
double	stall_velocity_threshold_
	Stall related parameters.

Detailed Description

Definition at line 21 of file posvel_gripper_controller.h.

Member Typedef Documentation

typedef actionlib::ActionServer<control_msgs::GripperCommandAction> gripper_controllers::PosVelGripperController::ActionServer [private]

Definition at line 25 of file posvel_gripper_controller.h.

typedef boost::shared_ptr<ActionServer> gripper_controllers::PosVelGripperController::ActionServerPtr [private]

Definition at line 26 of file posvel_gripper_controller.h.

typedef ActionServer::GoalHandle gripper_controllers::PosVelGripperController::GoalHandle [private]

Definition at line 27 of file posvel_gripper_controller.h.

typedef realtime_tools::RealtimeServerGoalHandle<control_msgs::GripperCommandAction> gripper_controllers::PosVelGripperController::RealtimeGoalHandle [private]

Definition at line 28 of file posvel_gripper_controller.h.

typedef boost::shared_ptr<RealtimeGoalHandle> gripper_controllers::PosVelGripperController::RealtimeGoalHandlePtr [private]

Definition at line 29 of file posvel_gripper_controller.h.

Member Function Documentation

void gripper_controllers::PosVelGripperController::cancelCB ( GoalHandle gh )

Definition at line 160 of file posvel_gripper_controller.cpp.

void gripper_controllers::PosVelGripperController::checkForSuccess	(	const ros::Time &	time,
		double	error_position,
		double	current_position,
		double	current_velocity,
		double	current_effort,
		double	max_effort
	)

Definition at line 212 of file posvel_gripper_controller.cpp.

double gripper_controllers::PosVelGripperController::gap2Pos ( double gap )

Definition at line 179 of file posvel_gripper_controller.cpp.

void gripper_controllers::PosVelGripperController::goalCB ( GoalHandle gh )

Definition at line 121 of file posvel_gripper_controller.cpp.

bool gripper_controllers::PosVelGripperController::init	(	hardware_interface::PosVelJointInterface *	hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)		`[virtual]`