grl::ros::KukaLBRiiwaROSPlugin Class Reference

#include <KukaLBRiiwaROSPlugin.hpp>

Inheritance diagram for grl::ros::KukaLBRiiwaROSPlugin:

Collaboration diagram for grl::ros::KukaLBRiiwaROSPlugin:

Classes
struct	JointStateTag

Public Types
typedef std::vector< double >	JointScalar
typedef std::vector< double >	JointScalar
typedef std::vector< double >	JointScalar
typedef std::vector< double >	JointScalar
typedef std::vector< double >	JointScalar
enum	JointStateIndex {   JointPosition, JointForce, JointTargetPosition, JointLowerPositionLimit,   JointUpperPositionLimit, JointMatrix, JointStateTagIndex, JointPosition,   JointForce, JointTargetPosition, JointLowerPositionLimit, JointUpperPositionLimit,   JointMatrix, JointStateTagIndex, JointPosition, JointForce,   JointTargetPosition, JointLowerPositionLimit, JointUpperPositionLimit, JointMatrix,   JointStateTagIndex, JointPosition, JointForce, JointTargetPosition,   JointLowerPositionLimit, JointUpperPositionLimit, JointMatrix, JointStateTagIndex,   JointPosition, JointForce, JointTargetPosition, JointLowerPositionLimit,   JointUpperPositionLimit, JointMatrix, JointStateTagIndex }
enum	JointStateIndex {   JointPosition, JointForce, JointTargetPosition, JointLowerPositionLimit,   JointUpperPositionLimit, JointMatrix, JointStateTagIndex, JointPosition,   JointForce, JointTargetPosition, JointLowerPositionLimit, JointUpperPositionLimit,   JointMatrix, JointStateTagIndex, JointPosition, JointForce,   JointTargetPosition, JointLowerPositionLimit, JointUpperPositionLimit, JointMatrix,   JointStateTagIndex, JointPosition, JointForce, JointTargetPosition,   JointLowerPositionLimit, JointUpperPositionLimit, JointMatrix, JointStateTagIndex,   JointPosition, JointForce, JointTargetPosition, JointLowerPositionLimit,   JointUpperPositionLimit, JointMatrix, JointStateTagIndex }
enum	JointStateIndex {   JointPosition, JointForce, JointTargetPosition, JointLowerPositionLimit,   JointUpperPositionLimit, JointMatrix, JointStateTagIndex, JointPosition,   JointForce, JointTargetPosition, JointLowerPositionLimit, JointUpperPositionLimit,   JointMatrix, JointStateTagIndex, JointPosition, JointForce,   JointTargetPosition, JointLowerPositionLimit, JointUpperPositionLimit, JointMatrix,   JointStateTagIndex, JointPosition, JointForce, JointTargetPosition,   JointLowerPositionLimit, JointUpperPositionLimit, JointMatrix, JointStateTagIndex,   JointPosition, JointForce, JointTargetPosition, JointLowerPositionLimit,   JointUpperPositionLimit, JointMatrix, JointStateTagIndex }
enum	JointStateIndex {   JointPosition, JointForce, JointTargetPosition, JointLowerPositionLimit,   JointUpperPositionLimit, JointMatrix, JointStateTagIndex, JointPosition,   JointForce, JointTargetPosition, JointLowerPositionLimit, JointUpperPositionLimit,   JointMatrix, JointStateTagIndex, JointPosition, JointForce,   JointTargetPosition, JointLowerPositionLimit, JointUpperPositionLimit, JointMatrix,   JointStateTagIndex, JointPosition, JointForce, JointTargetPosition,   JointLowerPositionLimit, JointUpperPositionLimit, JointMatrix, JointStateTagIndex,   JointPosition, JointForce, JointTargetPosition, JointLowerPositionLimit,   JointUpperPositionLimit, JointMatrix, JointStateTagIndex }
enum	JointStateIndex {   JointPosition, JointForce, JointTargetPosition, JointLowerPositionLimit,   JointUpperPositionLimit, JointMatrix, JointStateTagIndex, JointPosition,   JointForce, JointTargetPosition, JointLowerPositionLimit, JointUpperPositionLimit,   JointMatrix, JointStateTagIndex, JointPosition, JointForce,   JointTargetPosition, JointLowerPositionLimit, JointUpperPositionLimit, JointMatrix,   JointStateTagIndex, JointPosition, JointForce, JointTargetPosition,   JointLowerPositionLimit, JointUpperPositionLimit, JointMatrix, JointStateTagIndex,   JointPosition, JointForce, JointTargetPosition, JointLowerPositionLimit,   JointUpperPositionLimit, JointMatrix, JointStateTagIndex }
enum	ParamIndex {   RobotName, RobotModel, LocalZMQAddress, RemoteZMQAddress,   LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort, RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort,   KukaCommandMode, KukaMonitorMode, RobotName, RobotModel,   LocalZMQAddress, RemoteZMQAddress, LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort,   RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort, KukaCommandMode, KukaMonitorMode,   RobotName, RobotModel, LocalZMQAddress, RemoteZMQAddress,   LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort, RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort,   KukaCommandMode, KukaMonitorMode, RobotName, RobotModel,   LocalZMQAddress, RemoteZMQAddress, LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort,   RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort, KukaCommandMode, KukaMonitorMode,   RobotName, RobotModel, LocalZMQAddress, RemoteZMQAddress,   LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort, RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort,   KukaCommandMode, KukaMonitorMode }
enum	ParamIndex {   RobotName, RobotModel, LocalZMQAddress, RemoteZMQAddress,   LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort, RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort,   KukaCommandMode, KukaMonitorMode, RobotName, RobotModel,   LocalZMQAddress, RemoteZMQAddress, LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort,   RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort, KukaCommandMode, KukaMonitorMode,   RobotName, RobotModel, LocalZMQAddress, RemoteZMQAddress,   LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort, RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort,   KukaCommandMode, KukaMonitorMode, RobotName, RobotModel,   LocalZMQAddress, RemoteZMQAddress, LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort,   RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort, KukaCommandMode, KukaMonitorMode,   RobotName, RobotModel, LocalZMQAddress, RemoteZMQAddress,   LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort, RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort,   KukaCommandMode, KukaMonitorMode }
enum	ParamIndex {   RobotName, RobotModel, LocalZMQAddress, RemoteZMQAddress,   LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort, RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort,   KukaCommandMode, KukaMonitorMode, RobotName, RobotModel,   LocalZMQAddress, RemoteZMQAddress, LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort,   RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort, KukaCommandMode, KukaMonitorMode,   RobotName, RobotModel, LocalZMQAddress, RemoteZMQAddress,   LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort, RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort,   KukaCommandMode, KukaMonitorMode, RobotName, RobotModel,   LocalZMQAddress, RemoteZMQAddress, LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort,   RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort, KukaCommandMode, KukaMonitorMode,   RobotName, RobotModel, LocalZMQAddress, RemoteZMQAddress,   LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort, RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort,   KukaCommandMode, KukaMonitorMode }
enum	ParamIndex {   RobotName, RobotModel, LocalZMQAddress, RemoteZMQAddress,   LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort, RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort,   KukaCommandMode, KukaMonitorMode, RobotName, RobotModel,   LocalZMQAddress, RemoteZMQAddress, LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort,   RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort, KukaCommandMode, KukaMonitorMode,   RobotName, RobotModel, LocalZMQAddress, RemoteZMQAddress,   LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort, RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort,   KukaCommandMode, KukaMonitorMode, RobotName, RobotModel,   LocalZMQAddress, RemoteZMQAddress, LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort,   RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort, KukaCommandMode, KukaMonitorMode,   RobotName, RobotModel, LocalZMQAddress, RemoteZMQAddress,   LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort, RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort,   KukaCommandMode, KukaMonitorMode }
enum	ParamIndex {   RobotName, RobotModel, LocalZMQAddress, RemoteZMQAddress,   LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort, RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort,   KukaCommandMode, KukaMonitorMode, RobotName, RobotModel,   LocalZMQAddress, RemoteZMQAddress, LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort,   RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort, KukaCommandMode, KukaMonitorMode,   RobotName, RobotModel, LocalZMQAddress, RemoteZMQAddress,   LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort, RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort,   KukaCommandMode, KukaMonitorMode, RobotName, RobotModel,   LocalZMQAddress, RemoteZMQAddress, LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort,   RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort, KukaCommandMode, KukaMonitorMode,   RobotName, RobotModel, LocalZMQAddress, RemoteZMQAddress,   LocalHostKukaKoniUDPAddress, LocalHostKukaKoniUDPPort, RemoteHostKukaKoniUDPAddress, RemoteHostKukaKoniUDPPort,   KukaCommandMode, KukaMonitorMode }
typedef std::tuple< std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string >	Params
typedef std::tuple< std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string >	Params
typedef std::tuple< std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string >	Params
typedef std::tuple< std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string >	Params
typedef std::tuple< std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string >	Params
typedef std::tuple< JointScalar, JointScalar, JointScalar, JointScalar, JointScalar, TransformationMatrices, robot::arm::KukaJAVAdriver::JointStateTag >	State
typedef std::tuple< JointScalar, JointScalar, JointScalar, JointScalar, JointScalar, TransformationMatrices, robot::arm::KukaJAVAdriver::JointStateTag >	State
typedef std::tuple< JointScalar, JointScalar, JointScalar, JointScalar, JointScalar, TransformationMatrices, robot::arm::KukaJAVAdriver::JointStateTag >	State
typedef std::tuple< JointScalar, JointScalar, JointScalar, JointScalar, JointScalar, TransformationMatrices, robot::arm::KukaJAVAdriver::JointStateTag >	State
typedef std::tuple< JointScalar, JointScalar, JointScalar, JointScalar, JointScalar, TransformationMatrices, robot::arm::KukaJAVAdriver::JointStateTag >	State
typedef std::vector< TransformationMatrix >	TransformationMatrices
typedef std::vector< TransformationMatrix >	TransformationMatrices
typedef std::vector< TransformationMatrix >	TransformationMatrices
typedef std::vector< TransformationMatrix >	TransformationMatrices
typedef std::vector< TransformationMatrix >	TransformationMatrices
typedef std::array< double, 12 >	TransformationMatrix
typedef std::array< double, 12 >	TransformationMatrix
typedef std::array< double, 12 >	TransformationMatrix
typedef std::array< double, 12 >	TransformationMatrix
typedef std::array< double, 12 >	TransformationMatrix

Public Member Functions
void	construct ()
void	construct ()
void	construct ()
void	construct (Params params)
void	construct (Params params)
void	construct (Params params)
void	construct ()
void	construct (Params params)
void	construct ()
void	construct (Params params)
void	dummy_callback (const std_msgs::StringConstPtr &msg)
void	dummy_callback (const std_msgs::StringConstPtr &msg)
const Params &	getParams ()
const Params &	getParams ()
const Params &	getParams ()
const Params &	getParams ()
const Params &	getParams ()
void	jt_callback (const trajectory_msgs::JointTrajectoryConstPtr &msg)
void	jt_callback (const trajectory_msgs::JointTrajectoryConstPtr &msg)
void	jt_callback (const trajectory_msgs::JointTrajectoryConstPtr &msg)
void	jt_callback (const trajectory_msgs::JointTrajectoryConstPtr &msg)
void	jt_callback (const trajectory_msgs::JointTrajectoryConstPtr &msg)
void	jt_pt_callback (const trajectory_msgs::JointTrajectoryPointConstPtr &msg)
void	jt_pt_callback (const trajectory_msgs::JointTrajectoryPointConstPtr &msg)
void	jt_pt_callback (const trajectory_msgs::JointTrajectoryPointConstPtr &msg)
void	jt_pt_callback (const trajectory_msgs::JointTrajectoryPointConstPtr &msg)
void	jt_pt_callback (const trajectory_msgs::JointTrajectoryPointConstPtr &msg)
	KukaLBRiiwaROSPlugin (Params params=defaultParams())
	KukaLBRiiwaROSPlugin (Params params=defaultParams())
	KukaLBRiiwaROSPlugin (Params params=defaultParams())
	KukaLBRiiwaROSPlugin (Params params=defaultParams())
	KukaLBRiiwaROSPlugin (Params params=defaultParams())
Params &	loadRosParams (Params &params)
Params &	loadRosParams (Params &params)
Params &	loadRosParams (Params &params)
Params &	loadRosParams (Params &params)
Params &	loadRosParams (Params &params)
void	mode_callback (const std_msgs::StringConstPtr &msg)
	ROS callback to set current interaction mode; determines whether commands will be send in SERVO, TEACH, etc. More...
void	mode_callback (const std_msgs::StringConstPtr &msg)
	ROS callback to set current interaction mode; determines whether commands will be send in SERVO, TEACH, etc. More...
void	mode_callback (const std_msgs::StringConstPtr &msg)
	ROS callback to set current interaction mode; determines whether commands will be send in SERVO, TEACH, etc. More...
void	mode_callback (const std_msgs::StringConstPtr &msg)
	ROS callback to set current interaction mode; determines whether commands will be send in SERVO, TEACH, etc. More...
void	mode_callback (const std_msgs::StringConstPtr &msg)
	ROS callback to set current interaction mode; determines whether commands will be send in SERVO, TEACH, etc. More...
bool	run_one ()
	spin once, call this repeatedly to run the driver More...
bool	run_one ()
	spin once, call this repeatedly to run the driver More...
bool	run_one ()
	spin once, call this repeatedly to run the driver More...
bool	run_one ()
	spin once, call this repeatedly to run the driver More...
bool	run_one ()
	spin once, call this repeatedly to run the driver More...
void	set_cartesian_impedance_callback (const cartesian_impedance_msgs::SetCartesianImpedanceConstPtr &cartImpedance)
void	set_cartesian_impedance_callback (const cartesian_impedance_msgs::SetCartesianImpedanceConstPtr &cartImpedance)
void	set_force_control_callback (const cartesian_impedance_msgs::SetCartesianForceCtrlConstPtr &cartFTCtrl)
void	set_force_control_callback (const cartesian_impedance_msgs::SetCartesianForceCtrlConstPtr &cartFTCtrl)
bool	setState (State &state)
bool	setState (State &state)
bool	setState (State &state)
bool	setState (State &state)
bool	setState (State &state)
	~KukaLBRiiwaROSPlugin ()
	~KukaLBRiiwaROSPlugin ()
	~KukaLBRiiwaROSPlugin ()
	~KukaLBRiiwaROSPlugin ()
	~KukaLBRiiwaROSPlugin ()

Static Public Member Functions
static const Params	defaultParams ()
static const Params	defaultParams ()
static const Params	defaultParams ()
static const Params	defaultParams ()
static const Params	defaultParams ()

Public Attributes
boost::asio::io_service	device_driver_io_service
std::unique_ptr< boost::asio::io_service::work >	device_driver_workP_
std::unique_ptr< std::thread >	driver_threadP
std::string	dummy_message
std::vector< double >	realJointForce = { 0, 0, 0, 0, 0, 0, 0 }
std::vector< double >	realJointPosition = { 0, 0, 0, 0, 0, 0, 0 }
std::vector< double >	simJointForce
std::vector< double >	simJointPosition
std::vector< double >	simJointTargetPosition = {0.0,0.0,0.0,0.0,0.0,0.0,0.0}
KukaLBRiiwaROSPlugin::TransformationMatrices	simJointTransformationMatrix
std::vector< double >	simJointVelocity = {0.0,0.0,0.0,0.0,0.0,0.0,0.0}

Detailed Description

This class contains code to offer a simple communication layer between ROS and the KUKA LBR iiwa

Todo:

Main Loop Update Rate must be supplied to underlying Driver for FRI mode. see KukaLBRiiwaVrepPlugin for reference, particularly kukaDriverP_->set(simulationTimeStep_,time_duration_command_tag());

This class contains code to offer a simple communication layer between ROS and the KUKA LBR iiwa

Todo:

Main Loop Update Rate must be supplied to underlying Driver for FRI mode. see KukaLBRiiwaVrepPlugin for reference, particularly kukaDriverP_->set(simulationTimeStep_,time_duration_command_tag());

This class contains code to offer a simple communication layer between ROS and the KUKA LBR iiwa

Todo:

Main Loop Update Rate must be supplied to underlying Driver for FRI mode. see KukaLBRiiwaVrepPlugin for reference, particularly kukaDriverP_->set(simulationTimeStep_,time_duration_command_tag());

This class contains code to offer a simple communication layer between ROS and the KUKA LBR iiwa

Todo:

Main Loop Update Rate must be supplied to underlying Driver for FRI mode. see KukaLBRiiwaVrepPlugin for reference, particularly kukaDriverP_->set(simulationTimeStep_,time_duration_command_tag());

This class contains code to offer a simple communication layer between ROS and the KUKA LBR iiwa

Todo:

Main Loop Update Rate must be supplied to underlying Driver for FRI mode. see KukaLBRiiwaVrepPlugin for reference, particularly kukaDriverP_->set(simulationTimeStep_,time_duration_command_tag());

Definition at line 52 of file KukaLBRiiwaROSPlugin.hpp.

Member Typedef Documentation

JointScalar [1/5]

typedef std::vector<double> grl::ros::KukaLBRiiwaROSPlugin::JointScalar

Definition at line 128 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

JointScalar [2/5]

typedef std::vector<double> grl::ros::KukaLBRiiwaROSPlugin::JointScalar

Definition at line 130 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

JointScalar [3/5]

typedef std::vector<double> grl::ros::KukaLBRiiwaROSPlugin::JointScalar

Definition at line 130 of file KukaLBRiiwaROSPlugin.hpp.

JointScalar [4/5]

typedef std::vector<double> grl::ros::KukaLBRiiwaROSPlugin::JointScalar

Definition at line 135 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

JointScalar [5/5]

typedef std::vector<double> grl::ros::KukaLBRiiwaROSPlugin::JointScalar

Definition at line 139 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

Params [1/5]

typedef std::tuple< std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string > grl::ros::KukaLBRiiwaROSPlugin::Params

Definition at line 78 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

Params [2/5]

typedef std::tuple< std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string > grl::ros::KukaLBRiiwaROSPlugin::Params

Definition at line 80 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

Params [3/5]

typedef std::tuple< std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string > grl::ros::KukaLBRiiwaROSPlugin::Params

Definition at line 80 of file KukaLBRiiwaROSPlugin.hpp.

Params [4/5]

typedef std::tuple< std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string > grl::ros::KukaLBRiiwaROSPlugin::Params

Definition at line 85 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

Params [5/5]

typedef std::tuple< std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string, std::string > grl::ros::KukaLBRiiwaROSPlugin::Params

Definition at line 89 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

State [1/5]

typedef std::tuple< JointScalar, JointScalar, JointScalar, JointScalar, JointScalar, TransformationMatrices, robot::arm::KukaJAVAdriver::JointStateTag > grl::ros::KukaLBRiiwaROSPlugin::State

Definition at line 143 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

State [2/5]

typedef std::tuple< JointScalar, JointScalar, JointScalar, JointScalar, JointScalar, TransformationMatrices, robot::arm::KukaJAVAdriver::JointStateTag > grl::ros::KukaLBRiiwaROSPlugin::State

Definition at line 145 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

State [3/5]

typedef std::tuple< JointScalar, JointScalar, JointScalar, JointScalar, JointScalar, TransformationMatrices, robot::arm::KukaJAVAdriver::JointStateTag > grl::ros::KukaLBRiiwaROSPlugin::State

Definition at line 145 of file KukaLBRiiwaROSPlugin.hpp.

State [4/5]

typedef std::tuple< JointScalar, JointScalar, JointScalar, JointScalar, JointScalar, TransformationMatrices, robot::arm::KukaJAVAdriver::JointStateTag > grl::ros::KukaLBRiiwaROSPlugin::State

Definition at line 150 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

State [5/5]

typedef std::tuple< JointScalar, JointScalar, JointScalar, JointScalar, JointScalar, TransformationMatrices, robot::arm::KukaJAVAdriver::JointStateTag > grl::ros::KukaLBRiiwaROSPlugin::State

Definition at line 154 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

TransformationMatrices [1/5]

typedef std::vector<TransformationMatrix> grl::ros::KukaLBRiiwaROSPlugin::TransformationMatrices

Definition at line 132 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

TransformationMatrices [2/5]

typedef std::vector<TransformationMatrix> grl::ros::KukaLBRiiwaROSPlugin::TransformationMatrices

Definition at line 134 of file KukaLBRiiwaROSPlugin.hpp.

TransformationMatrices [3/5]

typedef std::vector<TransformationMatrix> grl::ros::KukaLBRiiwaROSPlugin::TransformationMatrices

Definition at line 134 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

TransformationMatrices [4/5]

typedef std::vector<TransformationMatrix> grl::ros::KukaLBRiiwaROSPlugin::TransformationMatrices

Definition at line 139 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

TransformationMatrices [5/5]

typedef std::vector<TransformationMatrix> grl::ros::KukaLBRiiwaROSPlugin::TransformationMatrices

Definition at line 143 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

TransformationMatrix [1/5]

typedef std::array<double,12> grl::ros::KukaLBRiiwaROSPlugin::TransformationMatrix

See also

http://www.coppeliarobotics.com/helpFiles/en/apiFunctions.htm#simGetJointMatrix for data layout information

Definition at line 131 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

TransformationMatrix [2/5]

typedef std::array<double,12> grl::ros::KukaLBRiiwaROSPlugin::TransformationMatrix

See also

http://www.coppeliarobotics.com/helpFiles/en/apiFunctions.htm#simGetJointMatrix for data layout information

Definition at line 133 of file KukaLBRiiwaROSPlugin.hpp.

TransformationMatrix [3/5]

typedef std::array<double,12> grl::ros::KukaLBRiiwaROSPlugin::TransformationMatrix

See also

http://www.coppeliarobotics.com/helpFiles/en/apiFunctions.htm#simGetJointMatrix for data layout information

Definition at line 133 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

TransformationMatrix [4/5]

typedef std::array<double,12> grl::ros::KukaLBRiiwaROSPlugin::TransformationMatrix

See also

http://www.coppeliarobotics.com/helpFiles/en/apiFunctions.htm#simGetJointMatrix for data layout information

Definition at line 138 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

TransformationMatrix [5/5]

typedef std::array<double,12> grl::ros::KukaLBRiiwaROSPlugin::TransformationMatrix

See also

http://www.coppeliarobotics.com/helpFiles/en/apiFunctions.htm#simGetJointMatrix for data layout information

Definition at line 142 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

Member Enumeration Documentation

JointStateIndex [1/5]

enum grl::ros::KukaLBRiiwaROSPlugin::JointStateIndex

Enumerator
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex

Definition at line 117 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

JointStateIndex [2/5]

enum grl::ros::KukaLBRiiwaROSPlugin::JointStateIndex

Enumerator
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex

Definition at line 119 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

JointStateIndex [3/5]

enum grl::ros::KukaLBRiiwaROSPlugin::JointStateIndex

Enumerator
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex

Definition at line 119 of file KukaLBRiiwaROSPlugin.hpp.

JointStateIndex [4/5]

enum grl::ros::KukaLBRiiwaROSPlugin::JointStateIndex

Enumerator
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex

Definition at line 124 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

JointStateIndex [5/5]

enum grl::ros::KukaLBRiiwaROSPlugin::JointStateIndex

Enumerator
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex
JointPosition
JointForce
JointTargetPosition
JointLowerPositionLimit
JointUpperPositionLimit
JointMatrix
JointStateTagIndex

Definition at line 128 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

ParamIndex [1/5]

enum grl::ros::KukaLBRiiwaROSPlugin::ParamIndex

Enumerator
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode

Definition at line 54 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

ParamIndex [2/5]

enum grl::ros::KukaLBRiiwaROSPlugin::ParamIndex

Enumerator
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode

Definition at line 56 of file KukaLBRiiwaROSPlugin.hpp.

ParamIndex [3/5]

enum grl::ros::KukaLBRiiwaROSPlugin::ParamIndex

Enumerator
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode

Definition at line 56 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

ParamIndex [4/5]

enum grl::ros::KukaLBRiiwaROSPlugin::ParamIndex

Enumerator
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode

Definition at line 61 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

ParamIndex [5/5]

enum grl::ros::KukaLBRiiwaROSPlugin::ParamIndex

Enumerator
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode
RobotName
RobotModel
LocalZMQAddress
RemoteZMQAddress
LocalHostKukaKoniUDPAddress
LocalHostKukaKoniUDPPort
RemoteHostKukaKoniUDPAddress
RemoteHostKukaKoniUDPPort
KukaCommandMode
KukaMonitorMode

Definition at line 65 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

Constructor & Destructor Documentation

KukaLBRiiwaROSPlugin() [1/5]

grl::ros::KukaLBRiiwaROSPlugin::KukaLBRiiwaROSPlugin ( Params  params = defaultParams() )

inline

Definition at line 148 of file KukaLBRiiwaROSPlugin.hpp.

~KukaLBRiiwaROSPlugin() [1/5]

grl::ros::KukaLBRiiwaROSPlugin::~KukaLBRiiwaROSPlugin ( )

inline

Definition at line 301 of file KukaLBRiiwaROSPlugin.hpp.

KukaLBRiiwaROSPlugin() [2/5]

grl::ros::KukaLBRiiwaROSPlugin::KukaLBRiiwaROSPlugin ( Params  params = defaultParams() )

inline

Definition at line 157 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

~KukaLBRiiwaROSPlugin() [2/5]

grl::ros::KukaLBRiiwaROSPlugin::~KukaLBRiiwaROSPlugin ( )

inline

Definition at line 427 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

KukaLBRiiwaROSPlugin() [3/5]

grl::ros::KukaLBRiiwaROSPlugin::KukaLBRiiwaROSPlugin ( Params  params = defaultParams() )

inline

Definition at line 146 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

~KukaLBRiiwaROSPlugin() [3/5]

grl::ros::KukaLBRiiwaROSPlugin::~KukaLBRiiwaROSPlugin ( )

inline

Definition at line 299 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

KukaLBRiiwaROSPlugin() [4/5]

grl::ros::KukaLBRiiwaROSPlugin::KukaLBRiiwaROSPlugin ( Params  params = defaultParams() )

inline

Definition at line 148 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

~KukaLBRiiwaROSPlugin() [4/5]

grl::ros::KukaLBRiiwaROSPlugin::~KukaLBRiiwaROSPlugin ( )

inline

Definition at line 301 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

KukaLBRiiwaROSPlugin() [5/5]

grl::ros::KukaLBRiiwaROSPlugin::KukaLBRiiwaROSPlugin ( Params  params = defaultParams() )

inline

Definition at line 153 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

~KukaLBRiiwaROSPlugin() [5/5]

grl::ros::KukaLBRiiwaROSPlugin::~KukaLBRiiwaROSPlugin ( )

inline

Definition at line 422 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

Member Function Documentation

construct() [1/10]

void grl::ros::KukaLBRiiwaROSPlugin::construct ( )

inline

Definition at line 152 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

construct() [2/10]

void grl::ros::KukaLBRiiwaROSPlugin::construct ( )

inline

Definition at line 154 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

construct() [3/10]

void grl::ros::KukaLBRiiwaROSPlugin::construct ( )

inline

Definition at line 154 of file KukaLBRiiwaROSPlugin.hpp.

construct() [4/10]

void grl::ros::KukaLBRiiwaROSPlugin::construct ( Params  params )

inline

Todo:

create a function that calls simGetObjectHandle and throws an exception when it fails

Warning

getting the ik group is optional, so it does not throw an exception

Todo:

properly support passing of io_service

Definition at line 156 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

construct() [5/10]

void grl::ros::KukaLBRiiwaROSPlugin::construct ( Params  params )

inline

Todo:

create a function that calls simGetObjectHandle and throws an exception when it fails

Warning

getting the ik group is optional, so it does not throw an exception

Todo:

properly support passing of io_service

Definition at line 158 of file KukaLBRiiwaROSPlugin.hpp.

construct() [6/10]

void grl::ros::KukaLBRiiwaROSPlugin::construct ( Params  params )

inline

Todo:

create a function that calls simGetObjectHandle and throws an exception when it fails

Warning

getting the ik group is optional, so it does not throw an exception

Todo:

properly support passing of io_service

Definition at line 158 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

construct() [7/10]

void grl::ros::KukaLBRiiwaROSPlugin::construct ( )

inline

Definition at line 159 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

construct() [8/10]

void grl::ros::KukaLBRiiwaROSPlugin::construct ( Params  params )

inline

Todo:

create a function that calls simGetObjectHandle and throws an exception when it fails

Warning

getting the ik group is optional, so it does not throw an exception

Todo:

properly support passing of io_service

Definition at line 163 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

construct() [9/10]

void grl::ros::KukaLBRiiwaROSPlugin::construct ( )

inline

Definition at line 163 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

construct() [10/10]

void grl::ros::KukaLBRiiwaROSPlugin::construct ( Params  params )

inline

Todo:

create a function that calls simGetObjectHandle and throws an exception when it fails

Warning

getting the ik group is optional, so it does not throw an exception

Todo:

properly support passing of io_service

Definition at line 167 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

defaultParams() [1/5]

static const Params grl::ros::KukaLBRiiwaROSPlugin::defaultParams ( )

inlinestatic

Definition at line 81 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

defaultParams() [2/5]

static const Params grl::ros::KukaLBRiiwaROSPlugin::defaultParams ( )

inlinestatic

Definition at line 83 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

defaultParams() [3/5]

static const Params grl::ros::KukaLBRiiwaROSPlugin::defaultParams ( )

inlinestatic

Definition at line 83 of file KukaLBRiiwaROSPlugin.hpp.

defaultParams() [4/5]

static const Params grl::ros::KukaLBRiiwaROSPlugin::defaultParams ( )

inlinestatic

Definition at line 88 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

defaultParams() [5/5]

static const Params grl::ros::KukaLBRiiwaROSPlugin::defaultParams ( )

inlinestatic

Definition at line 92 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

dummy_callback() [1/2]

void grl::ros::KukaLBRiiwaROSPlugin::dummy_callback ( const std_msgs::StringConstPtr &  msg )

inline

Definition at line 292 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

dummy_callback() [2/2]

void grl::ros::KukaLBRiiwaROSPlugin::dummy_callback ( const std_msgs::StringConstPtr &  msg )

inline

Definition at line 297 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

getParams() [1/5]

const Params& grl::ros::KukaLBRiiwaROSPlugin::getParams ( )

inline

Definition at line 211 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

getParams() [2/5]

const Params& grl::ros::KukaLBRiiwaROSPlugin::getParams ( )

inline

Definition at line 214 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

getParams() [3/5]

const Params& grl::ros::KukaLBRiiwaROSPlugin::getParams ( )

inline

Definition at line 214 of file KukaLBRiiwaROSPlugin.hpp.

getParams() [4/5]

const Params& grl::ros::KukaLBRiiwaROSPlugin::getParams ( )

inline

Definition at line 223 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

getParams() [5/5]

const Params& grl::ros::KukaLBRiiwaROSPlugin::getParams ( )

inline

Definition at line 228 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

jt_callback() [1/5]

void grl::ros::KukaLBRiiwaROSPlugin::jt_callback ( const trajectory_msgs::JointTrajectoryConstPtr &  msg )

inline

ROS joint trajectory callback this code needs to execute the joint trajectory on the robot

Todo:

: execute the rest of the trajectory

Definition at line 219 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

jt_callback() [2/5]

void grl::ros::KukaLBRiiwaROSPlugin::jt_callback ( const trajectory_msgs::JointTrajectoryConstPtr &  msg )

inline

ROS joint trajectory callback this code needs to execute the joint trajectory on the robot

Todo:

: execute the rest of the trajectory

Definition at line 222 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

jt_callback() [3/5]

void grl::ros::KukaLBRiiwaROSPlugin::jt_callback ( const trajectory_msgs::JointTrajectoryConstPtr &  msg )

inline

ROS joint trajectory callback this code needs to execute the joint trajectory on the robot

Todo:

: execute the rest of the trajectory

Definition at line 222 of file KukaLBRiiwaROSPlugin.hpp.

jt_callback() [4/5]

void grl::ros::KukaLBRiiwaROSPlugin::jt_callback ( const trajectory_msgs::JointTrajectoryConstPtr &  msg )

inline

ROS joint trajectory callback this code needs to execute the joint trajectory on the robot

Todo:

: execute the rest of the trajectory

Definition at line 231 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

jt_callback() [5/5]

void grl::ros::KukaLBRiiwaROSPlugin::jt_callback ( const trajectory_msgs::JointTrajectoryConstPtr &  msg )

inline

ROS joint trajectory callback this code needs to execute the joint trajectory on the robot

Todo:

: execute the rest of the trajectory

Definition at line 236 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

jt_pt_callback() [1/5]

void grl::ros::KukaLBRiiwaROSPlugin::jt_pt_callback ( const trajectory_msgs::JointTrajectoryPointConstPtr &  msg )

inline

ROS joint trajectory callback this code needs to execute the joint trajectory on the robot

Todo:

: execute the rest of the trajectory

Definition at line 275 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

jt_pt_callback() [2/5]

void grl::ros::KukaLBRiiwaROSPlugin::jt_pt_callback ( const trajectory_msgs::JointTrajectoryPointConstPtr &  msg )

inline

ROS joint trajectory callback this code needs to execute the joint trajectory on the robot

Todo:

: execute the rest of the trajectory

Definition at line 278 of file KukaLBRiiwaROSPlugin.hpp.

jt_pt_callback() [3/5]

void grl::ros::KukaLBRiiwaROSPlugin::jt_pt_callback ( const trajectory_msgs::JointTrajectoryPointConstPtr &  msg )

inline

ROS joint trajectory callback this code needs to execute the joint trajectory on the robot

Todo:

: execute the rest of the trajectory

Definition at line 278 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

jt_pt_callback() [4/5]

void grl::ros::KukaLBRiiwaROSPlugin::jt_pt_callback ( const trajectory_msgs::JointTrajectoryPointConstPtr &  msg )

inline

ROS joint trajectory callback this code needs to execute the joint trajectory on the robot

Todo:

: execute the rest of the trajectory

Definition at line 397 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

jt_pt_callback() [5/5]

void grl::ros::KukaLBRiiwaROSPlugin::jt_pt_callback ( const trajectory_msgs::JointTrajectoryPointConstPtr &  msg )

inline

ROS joint trajectory callback this code needs to execute the joint trajectory on the robot

Todo:

: execute the rest of the trajectory

Definition at line 402 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

loadRosParams() [1/5]

Params& grl::ros::KukaLBRiiwaROSPlugin::loadRosParams ( Params &  params )

inline

Definition at line 96 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

loadRosParams() [2/5]

Params& grl::ros::KukaLBRiiwaROSPlugin::loadRosParams ( Params &  params )

inline

Definition at line 98 of file KukaLBRiiwaROSPlugin.hpp.

loadRosParams() [3/5]

Params& grl::ros::KukaLBRiiwaROSPlugin::loadRosParams ( Params &  params )

inline

Definition at line 98 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

loadRosParams() [4/5]

Params& grl::ros::KukaLBRiiwaROSPlugin::loadRosParams ( Params &  params )

inline

Definition at line 103 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

loadRosParams() [5/5]

Params& grl::ros::KukaLBRiiwaROSPlugin::loadRosParams ( Params &  params )

inline

Definition at line 107 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

mode_callback() [1/5]

void grl::ros::KukaLBRiiwaROSPlugin::mode_callback ( const std_msgs::StringConstPtr &  msg )

inline

ROS callback to set current interaction mode; determines whether commands will be send in SERVO, TEACH, etc.

Definition at line 248 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

mode_callback() [2/5]

void grl::ros::KukaLBRiiwaROSPlugin::mode_callback ( const std_msgs::StringConstPtr &  msg )

inline

ROS callback to set current interaction mode; determines whether commands will be send in SERVO, TEACH, etc.

Definition at line 251 of file KukaLBRiiwaROSPlugin.hpp.

mode_callback() [3/5]

void grl::ros::KukaLBRiiwaROSPlugin::mode_callback ( const std_msgs::StringConstPtr &  msg )

inline

ROS callback to set current interaction mode; determines whether commands will be send in SERVO, TEACH, etc.

Definition at line 251 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

mode_callback() [4/5]

void grl::ros::KukaLBRiiwaROSPlugin::mode_callback ( const std_msgs::StringConstPtr &  msg )

inline

ROS callback to set current interaction mode; determines whether commands will be send in SERVO, TEACH, etc.

Definition at line 259 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

mode_callback() [5/5]

void grl::ros::KukaLBRiiwaROSPlugin::mode_callback ( const std_msgs::StringConstPtr &  msg )

inline

ROS callback to set current interaction mode; determines whether commands will be send in SERVO, TEACH, etc.

Definition at line 264 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

run_one() [1/5]

bool grl::ros::KukaLBRiiwaROSPlugin::run_one ( )

inline

spin once, call this repeatedly to run the driver

Todo:

setting joint position clears joint force in KukaDriverP_. Is this right or should position and force be configurable simultaeously?

Definition at line 312 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

run_one() [2/5]

bool grl::ros::KukaLBRiiwaROSPlugin::run_one ( )

inline

spin once, call this repeatedly to run the driver

Todo:

setting joint position clears joint force in KukaDriverP_. Is this right or should position and force be configurable simultaeously?

Definition at line 314 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

run_one() [3/5]

bool grl::ros::KukaLBRiiwaROSPlugin::run_one ( )

inline

spin once, call this repeatedly to run the driver

Todo:

setting joint position clears joint force in KukaDriverP_. Is this right or should position and force be configurable simultaeously?

Definition at line 314 of file KukaLBRiiwaROSPlugin.hpp.

run_one() [4/5]

bool grl::ros::KukaLBRiiwaROSPlugin::run_one ( )

inline

spin once, call this repeatedly to run the driver

Todo:

setting joint position clears joint force in KukaDriverP_. Is this right or should position and force be configurable simultaeously?

Definition at line 435 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

run_one() [5/5]

bool grl::ros::KukaLBRiiwaROSPlugin::run_one ( )

inline

spin once, call this repeatedly to run the driver

Todo:

setting joint position clears joint force in KukaDriverP_. Is this right or should position and force be configurable simultaeously?

Definition at line 440 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

set_cartesian_impedance_callback() [1/2]

void grl::ros::KukaLBRiiwaROSPlugin::set_cartesian_impedance_callback ( const cartesian_impedance_msgs::SetCartesianImpedanceConstPtr &  cartImpedance )

inline

Definition at line 301 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

set_cartesian_impedance_callback() [2/2]

void grl::ros::KukaLBRiiwaROSPlugin::set_cartesian_impedance_callback ( const cartesian_impedance_msgs::SetCartesianImpedanceConstPtr &  cartImpedance )

inline

Definition at line 306 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

set_force_control_callback() [1/2]

void grl::ros::KukaLBRiiwaROSPlugin::set_force_control_callback ( const cartesian_impedance_msgs::SetCartesianForceCtrlConstPtr &  cartFTCtrl )

inline

Definition at line 374 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

set_force_control_callback() [2/2]

void grl::ros::KukaLBRiiwaROSPlugin::set_force_control_callback ( const cartesian_impedance_msgs::SetCartesianForceCtrlConstPtr &  cartFTCtrl )

inline

Definition at line 379 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

setState() [1/5]

bool grl::ros::KukaLBRiiwaROSPlugin::setState ( State &  state )

inline

Definition at line 208 of file KukaLBRiiwaROSPlugin_BASE_26696.hpp.

setState() [2/5]

bool grl::ros::KukaLBRiiwaROSPlugin::setState ( State &  state )

inline

Definition at line 211 of file KukaLBRiiwaROSPlugin.hpp.

setState() [3/5]

bool grl::ros::KukaLBRiiwaROSPlugin::setState ( State &  state )

inline

Definition at line 211 of file KukaLBRiiwaROSPlugin_LOCAL_26696.hpp.

setState() [4/5]

bool grl::ros::KukaLBRiiwaROSPlugin::setState ( State &  state )

inline

Definition at line 220 of file KukaLBRiiwaROSPlugin_REMOTE_26696.hpp.

setState() [5/5]

bool grl::ros::KukaLBRiiwaROSPlugin::setState ( State &  state )

inline

Definition at line 225 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

Member Data Documentation

device_driver_io_service

boost::asio::io_service grl::ros::KukaLBRiiwaROSPlugin::device_driver_io_service

Definition at line 393 of file KukaLBRiiwaROSPlugin.hpp.

device_driver_workP_

std::unique_ptr< boost::asio::io_service::work > grl::ros::KukaLBRiiwaROSPlugin::device_driver_workP_

Definition at line 394 of file KukaLBRiiwaROSPlugin.hpp.

driver_threadP

std::unique_ptr< std::thread > grl::ros::KukaLBRiiwaROSPlugin::driver_threadP

Definition at line 395 of file KukaLBRiiwaROSPlugin.hpp.

dummy_message

std::string grl::ros::KukaLBRiiwaROSPlugin::dummy_message

Definition at line 538 of file KukaLBRiiwaROSPlugin_BACKUP_26696.hpp.

realJointForce

std::vector< double > grl::ros::KukaLBRiiwaROSPlugin::realJointForce = { 0, 0, 0, 0, 0, 0, 0 }

Definition at line 407 of file KukaLBRiiwaROSPlugin.hpp.

realJointPosition

std::vector< double > grl::ros::KukaLBRiiwaROSPlugin::realJointPosition = { 0, 0, 0, 0, 0, 0, 0 }

Note

loss of precision! kuka sends double values, if you write custom code don't use these float values. Vrep uses floats internally which is why they are used here.

Definition at line 405 of file KukaLBRiiwaROSPlugin.hpp.

simJointForce

std::vector< double > grl::ros::KukaLBRiiwaROSPlugin::simJointForce

Definition at line 400 of file KukaLBRiiwaROSPlugin.hpp.

simJointPosition

std::vector< double > grl::ros::KukaLBRiiwaROSPlugin::simJointPosition

Todo:

replace all these simJoint elements with simple KukaLBRiiwaROSPlugin::State

Todo:

replace all these simJoint elements with simple KukaLBRiiwaROSPlugin::State

Todo:

replace all these simJoint elements with simple KukaLBRiiwaROSPlugin::State

Todo:

replace all these simJoint elements with simple KukaLBRiiwaROSPlugin::State

Todo:

replace all these simJoint elements with simple KukaLBRiiwaROSPlugin::State

Definition at line 398 of file KukaLBRiiwaROSPlugin.hpp.

simJointTargetPosition

std::vector< double > grl::ros::KukaLBRiiwaROSPlugin::simJointTargetPosition = {0.0,0.0,0.0,0.0,0.0,0.0,0.0}

Definition at line 401 of file KukaLBRiiwaROSPlugin.hpp.

simJointTransformationMatrix

KukaLBRiiwaROSPlugin::TransformationMatrices grl::ros::KukaLBRiiwaROSPlugin::simJointTransformationMatrix

Definition at line 402 of file KukaLBRiiwaROSPlugin.hpp.

simJointVelocity

std::vector< double > grl::ros::KukaLBRiiwaROSPlugin::simJointVelocity = {0.0,0.0,0.0,0.0,0.0,0.0,0.0}

Definition at line 399 of file KukaLBRiiwaROSPlugin.hpp.

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

• KukaLBRiiwaROSPlugin.hpp
• KukaLBRiiwaROSPlugin_BACKUP_26696.hpp
• KukaLBRiiwaROSPlugin_BASE_26696.hpp
• KukaLBRiiwaROSPlugin_LOCAL_26696.hpp
• KukaLBRiiwaROSPlugin_REMOTE_26696.hpp