aikido::control::ros::RosJointStateClient Class Reference

Client that listens for JointState messages for each skeleton joint and provides a method for extracting the most recent position of each joint. More...

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

Classes
struct	JointStateRecord

Public Member Functions
	RosJointStateClient (dart::dynamics::SkeletonPtr _skeleton, ::ros::NodeHandle _nodeHandle, const std::string &_topicName, std::size_t _capacity)
	Constructor. More...
void	spin ()
	Update mBuffer with any JointState messages that have been received. More...
Eigen::VectorXd	getLatestPosition (const dart::dynamics::MetaSkeleton &_metaSkeleton) const
	Returns the most recent position of each joint in _metaSkeleton. More...

Private Member Functions
void	jointStateCallback (const sensor_msgs::JointState &_jointState)
	Callback to add a new JointState to mBuffer. More...

Private Attributes
std::mutex	mMutex
dart::dynamics::SkeletonPtr	mSkeleton
std::unordered_map< std::string, boost::circular_buffer< JointStateRecord > >	mBuffer
std::size_t	mCapacity
::ros::CallbackQueue	mCallbackQueue
::ros::NodeHandle	mNodeHandle
::ros::Subscriber	mSubscriber

Detailed Description

Client that listens for JointState messages for each skeleton joint and provides a method for extracting the most recent position of each joint.

Constructor & Destructor Documentation

RosJointStateClient()

aikido::control::ros::RosJointStateClient::RosJointStateClient	(	dart::dynamics::SkeletonPtr	_skeleton,
		::ros::NodeHandle	_nodeHandle,
		const std::string &	_topicName,
		std::size_t	_capacity
	)

Constructor.

Parameters

_skeleton	Skeleton to read JointState updates for.
_nodeHandle	ROS node.
_topicName	Name of topic to subscribe to for JointState updates.
_capacity	Number of JointStateRecords that are saved per joint.

Member Function Documentation

getLatestPosition()

Eigen::VectorXd aikido::control::ros::RosJointStateClient::getLatestPosition

(

const dart::dynamics::MetaSkeleton &

_metaSkeleton

)

const

Returns the most recent position of each joint in _metaSkeleton.

Parameters

_metaSkeleton

Skeleton to read DOFs from.

Returns

vector of positions for each DOF

jointStateCallback()

void aikido::control::ros::RosJointStateClient::jointStateCallback ( const sensor_msgs::JointState &  _jointState )

private

Callback to add a new JointState to mBuffer.

Parameters

_jointState

New JointState to add to mBuffer

spin()

void aikido::control::ros::RosJointStateClient::spin

(

)

Update mBuffer with any JointState messages that have been received.

Member Data Documentation

mBuffer

std::unordered_map<std::string, boost::circular_buffer<JointStateRecord> > aikido::control::ros::RosJointStateClient::mBuffer

private

mCallbackQueue

::ros::CallbackQueue aikido::control::ros::RosJointStateClient::mCallbackQueue

private

mCapacity

std::size_t aikido::control::ros::RosJointStateClient::mCapacity

private

mMutex

std::mutex aikido::control::ros::RosJointStateClient::mMutex

mutableprivate

mNodeHandle

::ros::NodeHandle aikido::control::ros::RosJointStateClient::mNodeHandle

private

mSkeleton

dart::dynamics::SkeletonPtr aikido::control::ros::RosJointStateClient::mSkeleton

private

mSubscriber

::ros::Subscriber aikido::control::ros::RosJointStateClient::mSubscriber

private