orca_ros::task::RosCartesianTaskProxy Class Reference

#include <RosCartesianTaskProxy.h>

Inheritance diagram for orca_ros::task::RosCartesianTaskProxy:

Collaboration diagram for orca_ros::task::RosCartesianTaskProxy:

Public Member Functions
	RosCartesianTaskProxy (const std::string &robot_name, const std::string &controller_name, const std::string &task_name)
virtual	~RosCartesianTaskProxy ()
std::shared_ptr< orca_ros::common::RosCartesianAccelerationPIDProxy >	servoController ()
void	setDesired (const orca::math::Vector6d &cartesian_acceleration_des)
void	setBaseFrame (const std::string &base_ref_frame)
void	setControlFrame (const std::string &control_frame)
std::string	getBaseFrame ()
std::string	getControlFrame ()
void	setDesired (const Eigen::Matrix4d &des_pose, const orca::math::Vector6d &des_vel, const orca::math::Vector6d &des_acc)
void	setDesiredPose (const Eigen::Matrix4d &des_pose)
void	setDesiredVelocity (const orca::math::Vector6d &des_vel)
void	setDesiredAcceleration (const orca::math::Vector6d &des_acc)
const Eigen::Matrix4d &	getDesiredPose ()
const orca::math::Vector6d &	getDesiredVelocity ()
const orca::math::Vector6d &	getDesiredAcceleration ()
const Eigen::Matrix4d &	getCurrentPose ()
const orca::math::Vector6d &	getCurrentVelocity ()
Public Member Functions inherited from orca_ros::task::RosGenericTaskProxy
	RosGenericTaskProxy (const std::string &robot_name, const std::string &controller_name, const std::string &task_name)
virtual	~RosGenericTaskProxy ()
double	getWeight ()
void	setWeight (double weight)
orca::math::Size	getSize ()
int	cols ()
int	rows ()
Eigen::MatrixXd	getE ()
Eigen::VectorXd	getf ()
virtual void	print ()
void	setE (const Eigen::MatrixXd &E)
void	setf (const Eigen::VectorXd &f)
Public Member Functions inherited from orca_ros::common::RosTaskBaseProxy
	RosTaskBaseProxy (const std::string &robot_name, const std::string &controller_name, const std::string &task_name, const std::string &generic_prefix)
virtual	~RosTaskBaseProxy ()
bool	isActivated ()
const std::string &	getName ()
bool	activate ()
bool	deactivate ()
void	print ()
orca::common::TaskBase::State	getState ()
void	setRampDuration (double ramp_time)
double	getRampDuration ()
Public Member Functions inherited from orca_ros::common::RosWrapperBase
	RosWrapperBase (const std::string &robot_name, const std::string &controller_name="", const std::string &obj_name="", const std::string &generic_prefix="")
virtual	~RosWrapperBase ()
std::string	getRobotName ()
std::string	getControllerName ()
std::string	getGenericPrefix ()
std::string	getObjectName ()
std::shared_ptr< ros::NodeHandle >	getNodeHandle ()
std::string	getNamespacePrefix ()
std::string	getRobotNamespacePrefix ()

Constructor & Destructor Documentation

RosCartesianTaskProxy::RosCartesianTaskProxy	(	const std::string &	robot_name,
		const std::string &	controller_name,
		const std::string &	task_name
	)

RosCartesianTaskProxy::~RosCartesianTaskProxy ( )

virtual

Member Function Documentation

std::string RosCartesianTaskProxy::getBaseFrame

(

)

std::string RosCartesianTaskProxy::getControlFrame

(

)

const Eigen::Matrix4d & RosCartesianTaskProxy::getCurrentPose

(

)

const orca::math::Vector6d & RosCartesianTaskProxy::getCurrentVelocity

(

)

const orca::math::Vector6d & RosCartesianTaskProxy::getDesiredAcceleration

(

)

const Eigen::Matrix4d & RosCartesianTaskProxy::getDesiredPose

(

)

const orca::math::Vector6d & RosCartesianTaskProxy::getDesiredVelocity

(

)

std::shared_ptr< orca_ros::common::RosCartesianAccelerationPIDProxy > RosCartesianTaskProxy::servoController

(

)

void RosCartesianTaskProxy::setBaseFrame

(

const std::string &

base_ref_frame

)

void RosCartesianTaskProxy::setControlFrame

(

const std::string &

control_frame

)

void RosCartesianTaskProxy::setDesired

(

const orca::math::Vector6d &

cartesian_acceleration_des

)

void RosCartesianTaskProxy::setDesired	(	const Eigen::Matrix4d &	des_pose,
		const orca::math::Vector6d &	des_vel,
		const orca::math::Vector6d &	des_acc
	)

void RosCartesianTaskProxy::setDesiredAcceleration

(

const orca::math::Vector6d &

des_acc

)

void RosCartesianTaskProxy::setDesiredPose

(

const Eigen::Matrix4d &

des_pose

)

void RosCartesianTaskProxy::setDesiredVelocity

(

const orca::math::Vector6d &

des_vel

)

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

• /home/docs/checkouts/readthedocs.org/user_builds/orca-ros/checkouts/latest/include/orca_ros/task/RosCartesianTaskProxy.h
• /home/docs/checkouts/readthedocs.org/user_builds/orca-ros/checkouts/latest/src/task/RosCartesianTaskProxy.cc