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

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

class	RosTrajectoryExecutionException
	This class wraps various exceptions that may arise during trajectory execution over ROS. More...

class	RosTrajectoryExecutor
	This class sends trajectory commands to ROS server. More...

Functions
std::unique_ptr< aikido::trajectory::Spline >	toSplineJointTrajectory (const std::shared_ptr< aikido::statespace::dart::MetaSkeletonStateSpace > &space, const trajectory_msgs::JointTrajectory &jointTrajectory)
	Converts a ROS JointTrajectory into an aikido's Spline trajectory. More...

std::unique_ptr< aikido::trajectory::Spline >	toSplineJointTrajectory (const std::shared_ptr< aikido::statespace::dart::MetaSkeletonStateSpace > &space, const trajectory_msgs::JointTrajectory &jointTrajectory, const Eigen::VectorXd &startPositions)
	Converts a ROS JointTrajectory into an aikido's Spline trajectory. More...

trajectory_msgs::JointTrajectory	toRosJointTrajectory (const aikido::trajectory::ConstTrajectoryPtr &trajectory, double timestep)
	Converts Aikido Trajectory to ROS JointTrajectory. More...

sensor_msgs::JointState	positionsToJointState (const Eigen::VectorXd &goalPositions, const std::vector< std::string > &jointNames)
	Converts Eigen VectorXd and joint names to JointState. More...

template<class ActionSpec , class TimeoutDuration , class PeriodDuration >
bool	waitForActionServer (actionlib::ActionClient< ActionSpec > &actionClient, ::ros::CallbackQueue &callbackQueue, TimeoutDuration timeoutDuration, PeriodDuration periodDuration)

Function Documentation

◆ positionsToJointState()

sensor_msgs::JointState aikido::control::ros::positionsToJointState	(	const Eigen::VectorXd &	goalPositions,
		const std::vector< std::string > &	jointNames
	)

Converts Eigen VectorXd and joint names to JointState.

Parameters

[in]	goalPositions	The required positions for the fingers
[in]	jointNames	The corresponding names of the joints

trajectory_msgs::JointTrajectory aikido::control::ros::toRosJointTrajectory	(	const aikido::trajectory::ConstTrajectoryPtr &	trajectory,
		double	timestep
	)

Converts Aikido Trajectory to ROS JointTrajectory.

Supports only 1D RnJoints and SO2Joints.

Parameters

[in]	trajectory	Aikido trajectory to be converted.
[in]	timestep	Timestep between two consecutive waypoints.

std::unique_ptr<aikido::trajectory::Spline> aikido::control::ros::toSplineJointTrajectory	(	const std::shared_ptr< aikido::statespace::dart::MetaSkeletonStateSpace > &	space,
		const trajectory_msgs::JointTrajectory &	jointTrajectory
	)

Converts a ROS JointTrajectory into an aikido's Spline trajectory.

This method only handles single-DOF joints.

Parameters

[in]	space	MetaSkeletonStateSpace for Spline trajectory. Subspaces must be either R1Joint or SO2Joint.
[in]	jointTrajectory	ROS JointTrajectory to be converted.

std::unique_ptr<aikido::trajectory::Spline> aikido::control::ros::toSplineJointTrajectory	(	const std::shared_ptr< aikido::statespace::dart::MetaSkeletonStateSpace > &	space,
		const trajectory_msgs::JointTrajectory &	jointTrajectory,
		const Eigen::VectorXd &	startPositions
	)

Converts a ROS JointTrajectory into an aikido's Spline trajectory.

This method only handles single-DOF joints.

Parameters

[in]	space	MetaSkeletonStateSpace for Spline trajectory. Subspaces must be either R1Joint or SO2Joint.
[in]	jointTrajectory	ROS JointTrajectory to be converted.
[in]	startPositions	If empty, jointTrajectory must specify all joints in the space. If non-empty, jointTrajectory only needs to specify a subset of the joints in the space. The remaining unspecified joint positions are filled with the corresponding positions in startPositions, which must have the same size as the space. Velocities and accelerations are filled with zero.

template<class ActionSpec , class TimeoutDuration , class PeriodDuration >

bool aikido::control::ros::waitForActionServer	(	actionlib::ActionClient< ActionSpec > &	actionClient,
		::ros::CallbackQueue &	callbackQueue,
		TimeoutDuration	timeoutDuration,
		PeriodDuration	periodDuration
	)