aikido::control::ros::RosPositionCommandExecutor Class Reference

This class uses actionlib to command an action of the type pr_control_msgs/SetPosition. More...

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

Inheritance diagram for aikido::control::ros::RosPositionCommandExecutor:

Public Member Functions
	RosPositionCommandExecutor (::ros::NodeHandle node, const std::string &serverName, std::vector< std::string > jointNames, std::chrono::milliseconds connectionTimeout=std::chrono::milliseconds{1000}, std::chrono::milliseconds connectionPollingPeriod=std::chrono::milliseconds{20})
	Constructor. More...
virtual	~RosPositionCommandExecutor ()
std::future< void >	execute (const Eigen::VectorXd &goalPositions) override
	Sends positions to ROS server for execution. More...
void	step (const std::chrono::system_clock::time_point &timepoint) override
	Step to a point in time. More...
Public Member Functions inherited from aikido::control::PositionCommandExecutor
virtual	~PositionCommandExecutor ()=default

Private Types
using	RosPositionActionClient = actionlib::ActionClient< pr_control_msgs::SetPositionAction >
using	GoalHandle = RosPositionActionClient::GoalHandle

Private Member Functions
void	transitionCallback (GoalHandle handle)

Private Attributes
::ros::NodeHandle	mNode
::ros::CallbackQueue	mCallbackQueue
RosPositionActionClient	mClient
RosPositionActionClient::GoalHandle	mGoalHandle
std::vector< std::string >	mJointNames
std::chrono::milliseconds	mConnectionTimeout
std::chrono::milliseconds	mConnectionPollingPeriod
bool	mInProgress
std::unique_ptr< std::promise< void > >	mPromise
std::mutex	mMutex
	Manages access to mInProgress, mPromise. More...

Additional Inherited Members
Protected Attributes inherited from aikido::control::PositionCommandExecutor
std::chrono::system_clock::time_point	mTimeOfPreviousCall
	Time of previous call to step. More...

Detailed Description

This class uses actionlib to command an action of the type pr_control_msgs/SetPosition.

It specifies a set of target positions and sends it to the ROS server for execution

Member Typedef Documentation

GoalHandle

using aikido::control::ros::RosPositionCommandExecutor::GoalHandle = RosPositionActionClient::GoalHandle

private

RosPositionActionClient

using aikido::control::ros::RosPositionCommandExecutor::RosPositionActionClient = actionlib::ActionClient<pr_control_msgs::SetPositionAction>

private

Constructor & Destructor Documentation

RosPositionCommandExecutor()

aikido::control::ros::RosPositionCommandExecutor::RosPositionCommandExecutor	(	::ros::NodeHandle	node,
		const std::string &	serverName,
		std::vector< std::string >	jointNames,
		std::chrono::milliseconds	connectionTimeout = std::chrono::milliseconds{1000},
		std::chrono::milliseconds	connectionPollingPeriod = std::chrono::milliseconds{20}
	)

Constructor.

Parameters

[in]	node	ROS node handle for action client.
[in]	serverName	Name of the server to send trajectory to.
[in]	jointNames	The names of the joints to set position targets for
[in]	connectionTimeout	Timeout for server connection.
[in]	connectionPollingPeriod	Polling period for server connection.

~RosPositionCommandExecutor()

virtual aikido::control::ros::RosPositionCommandExecutor::~RosPositionCommandExecutor ( )

virtual

Member Function Documentation

execute()

std::future<void> aikido::control::ros::RosPositionCommandExecutor::execute ( const Eigen::VectorXd &  goalPositions )

overridevirtual

Sends positions to ROS server for execution.

Parameters

[in]

goalPositions

Vector of target positions for each joint

Implements aikido::control::PositionCommandExecutor.

step()

void aikido::control::ros::RosPositionCommandExecutor::step ( const std::chrono::system_clock::time_point &  timepoint )

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

To be executed on a separate thread. Regularly checks for the completion of a sent trajectory.

Implements aikido::control::PositionCommandExecutor.

transitionCallback()

void aikido::control::ros::RosPositionCommandExecutor::transitionCallback ( GoalHandle  handle )

private

Member Data Documentation

mCallbackQueue

::ros::CallbackQueue aikido::control::ros::RosPositionCommandExecutor::mCallbackQueue

private

mClient

RosPositionActionClient aikido::control::ros::RosPositionCommandExecutor::mClient

private

mConnectionPollingPeriod

std::chrono::milliseconds aikido::control::ros::RosPositionCommandExecutor::mConnectionPollingPeriod

private

mConnectionTimeout

std::chrono::milliseconds aikido::control::ros::RosPositionCommandExecutor::mConnectionTimeout

private

mGoalHandle

RosPositionActionClient::GoalHandle aikido::control::ros::RosPositionCommandExecutor::mGoalHandle

private

mInProgress

bool aikido::control::ros::RosPositionCommandExecutor::mInProgress

private

mJointNames

std::vector<std::string> aikido::control::ros::RosPositionCommandExecutor::mJointNames

private

mMutex

std::mutex aikido::control::ros::RosPositionCommandExecutor::mMutex

mutableprivate

Manages access to mInProgress, mPromise.

mNode

::ros::NodeHandle aikido::control::ros::RosPositionCommandExecutor::mNode

private

mPromise

std::unique_ptr<std::promise<void> > aikido::control::ros::RosPositionCommandExecutor::mPromise

private