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32 #include <cartesian_control_msgs/FollowCartesianTrajectoryAction.h>
33 #include <cartesian_control_msgs/CartesianTolerance.h>
41 template <
class HWInterface>
57 void executeCB(
const cartesian_control_msgs::FollowCartesianTrajectoryGoalConstPtr& goal);
79 const cartesian_control_msgs::CartesianTolerance& tolerance);
83 std::unique_ptr<actionlib::SimpleActionServer<cartesian_control_msgs::FollowCartesianTrajectoryAction> >
std::unique_ptr< scaled_controllers::SpeedScalingHandle > speed_scaling_
void executeCB(const cartesian_control_msgs::FollowCartesianTrajectoryGoalConstPtr &goal)
bool init(hardware_interface::RobotHW *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) override
cartesian_control_msgs::CartesianTolerance goal_tolerances_
CartesianTrajectoryController()
void starting(const ros::Time &time) override
void monitorExecution(const ros_controllers_cartesian::CartesianState &error)
TrajectoryDuration trajectory_duration_
virtual ~CartesianTrajectoryController()
std::atomic< bool > done_
std::unique_ptr< actionlib::SimpleActionServer< cartesian_control_msgs::FollowCartesianTrajectoryAction > > action_server_
ros::Duration end
Planned target duration of the current action.
ros::Duration now
Current duration of the current action.
bool withinTolerances(const ros_controllers_cartesian::CartesianState &error, const cartesian_control_msgs::CartesianTolerance &tolerance)
ros_controllers_cartesian::CartesianTrajectory trajectory_
void stopping(const ros::Time &time) override
cartesian_control_msgs::CartesianTolerance path_tolerances_
void update(const ros::Time &time, const ros::Duration &period) override