Public Member Functions | List of all members
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::RosCartesianAccelerationPIDProxyservoController ()
 
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)

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