pr2_moveit_controller_manager Namespace Reference

Classes
class	ActionBasedControllerHandle
class	Pr2FollowJointTrajectoryControllerHandle
class	Pr2GripperControllerHandle
class	Pr2MoveItControllerManager

Variables
static const double	DEFAULT_MAX_GRIPPER_EFFORT = 10000.0
	Maximum effort the PR2 gripper is allowed to exert (read as 'very large value'); this is PR2 specific. More...
static const double	GAP_CONVERSION_RATIO = 0.1714
static const double	GRIPPER_CLOSED = 0.0
	The distance between the PR2 gripper fingers when fully closed (in m); this is PR2 specific. More...
static const double	GRIPPER_OPEN = 0.086
	The distance between the PR2 gripper fingers when fully open (in m); this is PR2 specific. More...
static const std::string	L_GRIPPER_JOINT = "l_gripper_motor_screw_joint"
	The name of the joint we expect input for to decide how to actuate the left gripper; this is PR2 specific. More...
static const std::string	R_GRIPPER_JOINT = "r_gripper_motor_screw_joint"
	The name of the joint we expect input for to decide how to actuate the right gripper; this is PR2 specific. More...

Variable Documentation

DEFAULT_MAX_GRIPPER_EFFORT

const double pr2_moveit_controller_manager::DEFAULT_MAX_GRIPPER_EFFORT = 10000.0

static

Maximum effort the PR2 gripper is allowed to exert (read as 'very large value'); this is PR2 specific.

Definition at line 53 of file pr2_moveit_controller_manager.cpp.

GAP_CONVERSION_RATIO

const double pr2_moveit_controller_manager::GAP_CONVERSION_RATIO = 0.1714

static

The conversion ratio that needs to be applied to get the gap opening of the gripper (m) based on the value of the motor joint actuating the gripper (PR2 specific)

Definition at line 69 of file pr2_moveit_controller_manager.cpp.

GRIPPER_CLOSED

const double pr2_moveit_controller_manager::GRIPPER_CLOSED = 0.0

static

The distance between the PR2 gripper fingers when fully closed (in m); this is PR2 specific.

Definition at line 59 of file pr2_moveit_controller_manager.cpp.

GRIPPER_OPEN

const double pr2_moveit_controller_manager::GRIPPER_OPEN = 0.086

static

The distance between the PR2 gripper fingers when fully open (in m); this is PR2 specific.

Definition at line 56 of file pr2_moveit_controller_manager.cpp.

L_GRIPPER_JOINT

const std::string pr2_moveit_controller_manager::L_GRIPPER_JOINT = "l_gripper_motor_screw_joint"

static

The name of the joint we expect input for to decide how to actuate the left gripper; this is PR2 specific.

Definition at line 65 of file pr2_moveit_controller_manager.cpp.

R_GRIPPER_JOINT

const std::string pr2_moveit_controller_manager::R_GRIPPER_JOINT = "r_gripper_motor_screw_joint"

static

The name of the joint we expect input for to decide how to actuate the right gripper; this is PR2 specific.

Definition at line 62 of file pr2_moveit_controller_manager.cpp.