robotis_manipulator_h::BaseModule Class Reference

#include <base_module.h>

Inheritance diagram for robotis_manipulator_h::BaseModule:

Public Member Functions
	BaseModule ()
void	generateInitPoseTrajProcess ()
void	generateJointTrajProcess ()
void	generateTaskTrajProcess ()
bool	getJointPoseCallback (manipulator_h_base_module_msgs::GetJointPose::Request &req, manipulator_h_base_module_msgs::GetJointPose::Response &res)
bool	getKinematicsPoseCallback (manipulator_h_base_module_msgs::GetKinematicsPose::Request &req, manipulator_h_base_module_msgs::GetKinematicsPose::Response &res)
void	initialize (const int control_cycle_msec, robotis_framework::Robot *robot)
void	initPoseMsgCallback (const std_msgs::String::ConstPtr &msg)
bool	isRunning ()
void	jointPoseMsgCallback (const manipulator_h_base_module_msgs::JointPose::ConstPtr &msg)
void	kinematicsPoseMsgCallback (const manipulator_h_base_module_msgs::KinematicsPose::ConstPtr &msg)
void	process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, double > sensors)
void	setModeMsgCallback (const std_msgs::String::ConstPtr &msg)
void	stop ()
virtual	~BaseModule ()
Public Member Functions inherited from robotis_framework::MotionModule
ControlMode	getControlMode ()
bool	getModuleEnable ()
std::string	getModuleName ()
virtual void	onModuleDisable ()
virtual void	onModuleEnable ()
void	setModuleEnable (bool enable)
virtual	~MotionModule ()

Public Attributes
BaseJointState *	joint_state_
ManipulatorKinematicsDynamics *	manipulator_
RobotisState *	robotis_
Public Attributes inherited from robotis_framework::MotionModule
std::map< std::string, DynamixelState * >	result_

Private Member Functions
void	parseIniPoseData (const std::string &path)
void	publishStatusMsg (unsigned int type, std::string msg)
void	queueThread ()

Private Attributes
int	control_cycle_msec_
std::map< std::string, int >	joint_name_to_id_
boost::thread	queue_thread_
ros::Publisher	set_ctrl_module_pub_
ros::Publisher	status_msg_pub_
boost::thread *	tra_gene_thread_

Additional Inherited Members
Static Public Member Functions inherited from robotis_framework::Singleton< BaseModule >
static void	destroyInstance ()
static T *	getInstance ()
Protected Member Functions inherited from robotis_framework::Singleton< BaseModule >
Singleton &	operator= (Singleton const &)
	Singleton (Singleton const &)
	Singleton ()
Protected Attributes inherited from robotis_framework::MotionModule
ControlMode	control_mode_
bool	enable_
std::string	module_name_

Detailed Description

Definition at line 78 of file base_module.h.

Constructor & Destructor Documentation

BaseModule::BaseModule

(

)

Definition at line 30 of file base_module.cpp.

BaseModule::~BaseModule ( )

virtual

Definition at line 58 of file base_module.cpp.

Member Function Documentation

void BaseModule::generateInitPoseTrajProcess

(

)

Definition at line 260 of file base_module.cpp.

void BaseModule::generateJointTrajProcess

(

)

Definition at line 283 of file base_module.cpp.

void BaseModule::generateTaskTrajProcess

(

)

Definition at line 356 of file base_module.cpp.

bool BaseModule::getJointPoseCallback	(	manipulator_h_base_module_msgs::GetJointPose::Request &	req,
		manipulator_h_base_module_msgs::GetJointPose::Response &	res
	)

Definition at line 174 of file base_module.cpp.

bool BaseModule::getKinematicsPoseCallback	(	manipulator_h_base_module_msgs::GetKinematicsPose::Request &	req,
		manipulator_h_base_module_msgs::GetKinematicsPose::Response &	res
	)

Definition at line 197 of file base_module.cpp.

void BaseModule::initialize ( const int  control_cycle_msec, robotis_framework::Robot *  robot  )

virtual

Implements robotis_framework::MotionModule.

Definition at line 63 of file base_module.cpp.

void BaseModule::initPoseMsgCallback

(

const std_msgs::String::ConstPtr &

msg

)

Definition at line 139 of file base_module.cpp.

bool BaseModule::isRunning ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 515 of file base_module.cpp.

void BaseModule::jointPoseMsgCallback

(

const manipulator_h_base_module_msgs::JointPose::ConstPtr &

msg

)

Definition at line 240 of file base_module.cpp.

void BaseModule::kinematicsPoseMsgCallback

(

const manipulator_h_base_module_msgs::KinematicsPose::ConstPtr &

msg

)

Definition at line 217 of file base_module.cpp.

void BaseModule::parseIniPoseData ( const std::string &  path )

private

Definition at line 69 of file base_module.cpp.

void BaseModule::process ( std::map< std::string, robotis_framework::Dynamixel * >  dxls, std::map< std::string, double >  sensors  )

virtual

Implements robotis_framework::MotionModule.

Definition at line 409 of file base_module.cpp.

void BaseModule::publishStatusMsg ( unsigned int  type, std::string  msg  )

private

Definition at line 520 of file base_module.cpp.

void BaseModule::queueThread ( )

private

Definition at line 105 of file base_module.cpp.

void BaseModule::setModeMsgCallback

(

const std_msgs::String::ConstPtr &

msg

)

Definition at line 164 of file base_module.cpp.

void BaseModule::stop ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 506 of file base_module.cpp.

Member Data Documentation

int robotis_manipulator_h::BaseModule::control_cycle_msec_

private

Definition at line 83 of file base_module.h.

std::map<std::string, int> robotis_manipulator_h::BaseModule::joint_name_to_id_

private

Definition at line 90 of file base_module.h.

BaseJointState* robotis_manipulator_h::BaseModule::joint_state_

Definition at line 126 of file base_module.h.

ManipulatorKinematicsDynamics* robotis_manipulator_h::BaseModule::manipulator_

Definition at line 128 of file base_module.h.

boost::thread robotis_manipulator_h::BaseModule::queue_thread_

private

Definition at line 84 of file base_module.h.

RobotisState* robotis_manipulator_h::BaseModule::robotis_

Definition at line 127 of file base_module.h.

ros::Publisher robotis_manipulator_h::BaseModule::set_ctrl_module_pub_

private

Definition at line 88 of file base_module.h.

ros::Publisher robotis_manipulator_h::BaseModule::status_msg_pub_

private

Definition at line 87 of file base_module.h.

boost::thread* robotis_manipulator_h::BaseModule::tra_gene_thread_

private

Definition at line 85 of file base_module.h.

---

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

• base_module.h
• base_module.cpp