Public Member Functions | Private Member Functions | Private Attributes | List of all members
xpp::CartesianJointConverter Class Reference

Converts a Cartesian robot representation to joint angles. More...

#include <cartesian_joint_converter.h>

Public Member Functions

 CartesianJointConverter (const InverseKinematics::Ptr &ik, const std::string &cart_topic, const std::string &joint_topic)
 Creates a converter initializing the subscriber and publisher. More...
virtual ~CartesianJointConverter ()=default

Private Member Functions

void StateCallback (const xpp_msgs::RobotStateCartesian &msg)

Private Attributes

ros::Subscriber cart_state_sub_
InverseKinematics::Ptr inverse_kinematics_
ros::Publisher joint_state_pub_

Detailed Description

Converts a Cartesian robot representation to joint angles.

This class subscribes to a Cartesian robot state message and publishes the, through inverse kinematics converted, joint state message. This can then be used to visualize URDFs in RVIZ.

Definition at line 51 of file cartesian_joint_converter.h.

Constructor & Destructor Documentation

xpp::CartesianJointConverter::CartesianJointConverter ( const InverseKinematics::Ptr ik,
const std::string &  cart_topic,
const std::string &  joint_topic 

Creates a converter initializing the subscriber and publisher.

ikThe InverseKinematics to use for conversion.
cart_topicThe ROS topic containing the Cartesian robot state.
joint_topicThe ROS topic to publish for the URDF visualization.

Definition at line 39 of file

virtual xpp::CartesianJointConverter::~CartesianJointConverter ( )

Member Function Documentation

void xpp::CartesianJointConverter::StateCallback ( const xpp_msgs::RobotStateCartesian &  msg)

Definition at line 54 of file

Member Data Documentation

ros::Subscriber xpp::CartesianJointConverter::cart_state_sub_

Definition at line 67 of file cartesian_joint_converter.h.

InverseKinematics::Ptr xpp::CartesianJointConverter::inverse_kinematics_

Definition at line 70 of file cartesian_joint_converter.h.

ros::Publisher xpp::CartesianJointConverter::joint_state_pub_

Definition at line 68 of file cartesian_joint_converter.h.

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

Author(s): Alexander W. Winkler
autogenerated on Tue Dec 8 2020 03:10:32