Public Member Functions | Private Member Functions | Private Attributes | List of all members
katana::KatanaGripperGraspController Class Reference

#include <katana_gripper_grasp_controller.h>

Public Member Functions

 KatanaGripperGraspController (boost::shared_ptr< AbstractKatana > katana)
 
virtual ~KatanaGripperGraspController ()
 

Private Member Functions

void executeCB (const control_msgs::GripperCommandGoalConstPtr &goal)
 
bool serviceCallback (control_msgs::QueryTrajectoryState::Request &request, control_msgs::QueryTrajectoryState::Response &response)
 

Private Attributes

actionlib::SimpleActionServer< control_msgs::GripperCommandAction > * action_server_
 Action server for the grasp posture action. More...
 
double goal_threshold_
 A difference in desired goal angle and actual goal angle above this value indicates that the goal was not reached. More...
 
boost::shared_ptr< AbstractKatanakatana_
 
ros::ServiceServer query_srv_
 Server for the posture query service. More...
 

Detailed Description

Definition at line 43 of file katana_gripper_grasp_controller.h.

Constructor & Destructor Documentation

katana::KatanaGripperGraspController::KatanaGripperGraspController ( boost::shared_ptr< AbstractKatana katana)

Definition at line 33 of file katana_gripper_grasp_controller.cpp.

katana::KatanaGripperGraspController::~KatanaGripperGraspController ( )
virtual

Definition at line 53 of file katana_gripper_grasp_controller.cpp.

Member Function Documentation

void katana::KatanaGripperGraspController::executeCB ( const control_msgs::GripperCommandGoalConstPtr &  goal)
private

Definition at line 58 of file katana_gripper_grasp_controller.cpp.

bool katana::KatanaGripperGraspController::serviceCallback ( control_msgs::QueryTrajectoryState::Request &  request,
control_msgs::QueryTrajectoryState::Response &  response 
)
private

Definition at line 91 of file katana_gripper_grasp_controller.cpp.

Member Data Documentation

actionlib::SimpleActionServer<control_msgs::GripperCommandAction>* katana::KatanaGripperGraspController::action_server_
private

Action server for the grasp posture action.

Definition at line 51 of file katana_gripper_grasp_controller.h.

double katana::KatanaGripperGraspController::goal_threshold_
private

A difference in desired goal angle and actual goal angle above this value indicates that the goal was not reached.

Definition at line 59 of file katana_gripper_grasp_controller.h.

boost::shared_ptr<AbstractKatana> katana::KatanaGripperGraspController::katana_
private

Definition at line 56 of file katana_gripper_grasp_controller.h.

ros::ServiceServer katana::KatanaGripperGraspController::query_srv_
private

Server for the posture query service.

Definition at line 54 of file katana_gripper_grasp_controller.h.


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


katana
Author(s): Martin Günther
autogenerated on Fri Jan 3 2020 04:01:25