CartesianController Class Reference

#include <cartesian_controller.h>

Public Member Functions
cob_cartesian_controller::CartesianActionStruct	acceptGoal (boost::shared_ptr< const cob_cartesian_controller::CartesianControllerGoal > goal)
void	actionAbort (const bool success, const std::string &message)
void	actionPreempt (const bool success, const std::string &message)
void	actionSuccess (const bool success, const std::string &message)
cob_cartesian_controller::MoveCircStruct	convertMoveCirc (const cob_cartesian_controller::MoveCirc &move_circ_msg)
cob_cartesian_controller::MoveLinStruct	convertMoveLin (const cob_cartesian_controller::MoveLin &move_lin_msg)
void	goalCallback ()
	Action interface. More...
bool	initialize ()
bool	posePathBroadcaster (const geometry_msgs::PoseArray &cartesian_path)
void	preemptCallback ()
bool	startTracking ()
bool	stopTracking ()

Private Attributes
cob_cartesian_controller::CartesianControllerFeedback	action_feedback_
std::string	action_name_
	Action interface. More...
cob_cartesian_controller::CartesianControllerResult	action_result_
boost::shared_ptr< SAS_CartesianControllerAction_t >	as_
std::string	chain_tip_link_
ros::NodeHandle	nh_
std::string	root_frame_
ros::ServiceClient	start_tracking_
ros::ServiceClient	stop_tracking_
std::string	target_frame_
tf::TransformBroadcaster	tf_broadcaster_
tf::TransformListener	tf_listener_
bool	tracking_
boost::shared_ptr< TrajectoryInterpolator >	trajectory_interpolator_
double	update_rate_
CartesianControllerUtils	utils_

Detailed Description

Definition at line 41 of file cartesian_controller.h.

Member Function Documentation

cob_cartesian_controller::CartesianActionStruct CartesianController::acceptGoal

(

boost::shared_ptr< const cob_cartesian_controller::CartesianControllerGoal >

goal

)

Definition at line 290 of file cartesian_controller.cpp.

void CartesianController::actionAbort	(	const bool	success,
		const std::string &	message
	)

Definition at line 340 of file cartesian_controller.cpp.

void CartesianController::actionPreempt	(	const bool	success,
		const std::string &	message
	)

Definition at line 332 of file cartesian_controller.cpp.

void CartesianController::actionSuccess	(	const bool	success,
		const std::string &	message
	)

Definition at line 324 of file cartesian_controller.cpp.

cob_cartesian_controller::MoveCircStruct CartesianController::convertMoveCirc

(

const cob_cartesian_controller::MoveCirc &

move_circ_msg

)

Definition at line 275 of file cartesian_controller.cpp.

cob_cartesian_controller::MoveLinStruct CartesianController::convertMoveLin

(

const cob_cartesian_controller::MoveLin &

move_lin_msg

)

Definition at line 261 of file cartesian_controller.cpp.

void CartesianController::goalCallback

(

)

Action interface.

Definition at line 173 of file cartesian_controller.cpp.

bool CartesianController::initialize

(

)

Private Nodehandle

Definition at line 29 of file cartesian_controller.cpp.

bool CartesianController::posePathBroadcaster

(

const geometry_msgs::PoseArray &

cartesian_path

)

Definition at line 140 of file cartesian_controller.cpp.

void CartesianController::preemptCallback

(

)

Definition at line 317 of file cartesian_controller.cpp.

bool CartesianController::startTracking

(

)

Definition at line 77 of file cartesian_controller.cpp.

bool CartesianController::stopTracking

(

)

Definition at line 113 of file cartesian_controller.cpp.

Member Data Documentation

cob_cartesian_controller::CartesianControllerFeedback CartesianController::action_feedback_

private

Definition at line 79 of file cartesian_controller.h.

std::string CartesianController::action_name_

private

Action interface.

Definition at line 77 of file cartesian_controller.h.

cob_cartesian_controller::CartesianControllerResult CartesianController::action_result_

private

Definition at line 80 of file cartesian_controller.h.

boost::shared_ptr<SAS_CartesianControllerAction_t> CartesianController::as_

private

Definition at line 78 of file cartesian_controller.h.

std::string CartesianController::chain_tip_link_

private

Definition at line 74 of file cartesian_controller.h.

ros::NodeHandle CartesianController::nh_

private

Definition at line 65 of file cartesian_controller.h.

std::string CartesianController::root_frame_

private

Definition at line 74 of file cartesian_controller.h.

ros::ServiceClient CartesianController::start_tracking_

private

Definition at line 69 of file cartesian_controller.h.

ros::ServiceClient CartesianController::stop_tracking_

private

Definition at line 70 of file cartesian_controller.h.

std::string CartesianController::target_frame_

private

Definition at line 74 of file cartesian_controller.h.

tf::TransformBroadcaster CartesianController::tf_broadcaster_

private

Definition at line 67 of file cartesian_controller.h.

tf::TransformListener CartesianController::tf_listener_

private

Definition at line 66 of file cartesian_controller.h.

bool CartesianController::tracking_

private

Definition at line 71 of file cartesian_controller.h.

boost::shared_ptr< TrajectoryInterpolator > CartesianController::trajectory_interpolator_

private

Definition at line 83 of file cartesian_controller.h.

double CartesianController::update_rate_

private

Definition at line 73 of file cartesian_controller.h.

CartesianControllerUtils CartesianController::utils_

private

Definition at line 82 of file cartesian_controller.h.

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

• cartesian_controller.h
• cartesian_controller.cpp