aikido::control::ros::RosJointCommandExecutor< T > Class Template Reference

This Executor uses pr_control_msgs/JointGroupCommandAction to execute joint-wise commands. More...

#include <aikido/control/ros/RosJointCommandExecutor.hpp>

Inheritance diagram for aikido::control::ros::RosJointCommandExecutor< T >:

Public Member Functions
	RosJointCommandExecutor (const ::ros::NodeHandle &node, const std::string &controllerName, const std::vector< dart::dynamics::DegreeOfFreedom * > &dofs, std::chrono::milliseconds connectionTimeout=std::chrono::milliseconds{DEFAULT_CON_TIMEOUT_MS}, std::chrono::milliseconds connectionPollingPeriod=std::chrono::milliseconds{DEFAULT_POLL_PERIOD_MS})
	Constructor. More...
virtual	~RosJointCommandExecutor ()
std::future< int >	execute (const std::vector< double > &command, const std::chrono::duration< double > &timeout, const std::chrono::system_clock::time_point &timepoint) override
	Execute a Joint Command, setting future upon completion. More...
void	step (const std::chrono::system_clock::time_point &timepoint) override
	Step to a point in time. More...
void	cancel () override
	Cancels the current command. More...
Public Member Functions inherited from aikido::control::JointCommandExecutor< T >
	JointCommandExecutor (const std::vector< dart::dynamics::DegreeOfFreedom * > dofs, const std::set< ExecutorType > otherTypes=std::set< ExecutorType >(), const std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor. More...
virtual	~JointCommandExecutor ()
virtual std::future< int >	execute (const std::vector< double > &command, const std::chrono::duration< double > &timeout)
	Execute a Joint Command, setting future upon completion. More...
Public Member Functions inherited from aikido::control::Executor
	Executor (const std::set< ExecutorType > &types, const std::vector< dart::dynamics::DegreeOfFreedom * > &dofs, const std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor. More...
	Executor (const ExecutorType type, const std::vector< dart::dynamics::DegreeOfFreedom * > &dofs, std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor. More...
virtual	~Executor ()
std::set< ExecutorType >	getTypes () const
	Get all of this Executor's ExecutorTypes. More...
const std::vector< dart::dynamics::DegreeOfFreedom * >	getDofs () const
	Get list of dofs needed by this Executor. More...
void	start ()
	Start the underlying ExecutorThread. More...
void	stop ()
	Stops the underlying ExecutorThread. More...
bool	registerDofs ()
	Lock the resources required by the DoFs. More...
void	releaseDofs ()
	Unlock any resources required by the DoFs. More...

Private Attributes
RosJointGroupCommandClient	mClient

Additional Inherited Members
Protected Attributes inherited from aikido::control::Executor
std::set< ExecutorType >	mTypes
	Vector of executor types. More...
std::vector< dart::dynamics::DegreeOfFreedom * >	mDofs
	Vector of dof names. More...

Detailed Description

template<ExecutorType T>
class aikido::control::ros::RosJointCommandExecutor< T >

This Executor uses pr_control_msgs/JointGroupCommandAction to execute joint-wise commands.

See also

RosJointGroupCommandClient

Constructor & Destructor Documentation

RosJointCommandExecutor()

template<ExecutorType T>

aikido::control::ros::RosJointCommandExecutor< T >::RosJointCommandExecutor	(	const ::ros::NodeHandle &	node,
		const std::string &	controllerName,
		const std::vector< dart::dynamics::DegreeOfFreedom * > &	dofs,
		std::chrono::milliseconds	connectionTimeout = std::chrono::milliseconds{DEFAULT_CON_TIMEOUT_MS},
		std::chrono::milliseconds	connectionPollingPeriod = std::chrono::milliseconds{DEFAULT_POLL_PERIOD_MS}
	)

Constructor.

Parameters

[in]	node	ROS node handle for action client.
[in]	controllerName	Name of the controller to send command to.
[in]	dofs	The Degrees of Freedom to set goal targets for
[in]	connectionTimeout	Timeout for server connection.
[in]	connectionPollingPeriod	Polling period for server connection.

~RosJointCommandExecutor()

template<ExecutorType T>

aikido::control::ros::RosJointCommandExecutor< T >::~RosJointCommandExecutor

virtual

Member Function Documentation

cancel()

template<ExecutorType T>

void aikido::control::ros::RosJointCommandExecutor< T >::cancel ( )

overridevirtual

Cancels the current command.

Implements aikido::control::JointCommandExecutor< T >.

execute()

template<ExecutorType T>

std::future< int > aikido::control::ros::RosJointCommandExecutor< T >::execute ( const std::vector< double > &  command, const std::chrono::duration< double > &  timeout, const std::chrono::system_clock::time_point &  timepoint  )

overridevirtual

Execute a Joint Command, setting future upon completion.

Note

Future should return 0 on success or timeout.

Parameters

command	Vector of joint commands, parallel with joints vector
timeout	How long until command expires
timepoint	If supplied, time to simulate to

Implements aikido::control::JointCommandExecutor< T >.

step()

template<ExecutorType T>

void aikido::control::ros::RosJointCommandExecutor< T >::step ( const std::chrono::system_clock::time_point &  )

overridevirtual

Step to a point in time.

Note

timepoint can be a time in the future to enable faster than real-time execution.

Parameters

timepoint

Time to simulate to

Implements aikido::control::JointCommandExecutor< T >.

Member Data Documentation

mClient

template<ExecutorType T>

RosJointGroupCommandClient aikido::control::ros::RosJointCommandExecutor< T >::mClient

private