basic_servo_tests.cpp
/tmp/ws/src/moveit/moveit_ros/moveit_servo/test/
basic__servo__tests_8cpp.html
moveit_servo/make_shared_from_pool.h
moveit_servo/servo.h
moveit_servo::ServoFixture
moveit_servo
int
main
basic__servo__tests_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
TEST_F
namespacemoveit__servo.html
ab63a939d35dd408a653a267075df04a7
(ServoFixture, EnforceVelLimitsTest)
TEST_F
namespacemoveit__servo.html
a515a60c03984fa0b9117f530acf23970
(ServoFixture, SendJointServoTest)
TEST_F
namespacemoveit__servo.html
ac23c005d46e36b6782e787628a1407fa
(ServoFixture, SendTwistStampedTest)
static const std::string
LOGNAME
basic__servo__tests_8cpp.html
ae204778bbd53a8bd3c1fbbaf111b6177
collision_check.cpp
/tmp/ws/src/moveit/moveit_ros/moveit_servo/src/
collision__check_8cpp.html
moveit_servo/collision_check.h
moveit_servo/make_shared_from_pool.h
moveit_servo
constexpr double
EPSILON
collision__check_8cpp.html
a75f355966e0a97665eaf5a4c79baa7af
static const char
LOGNAME
collision__check_8cpp.html
a5c337b2da58ab46c6581ce73debbce83
[]
static const double
MIN_RECOMMENDED_COLLISION_RATE
collision__check_8cpp.html
a47c869d795fe420423cd673685b0c62f
constexpr size_t
ROS_LOG_THROTTLE_PERIOD
collision__check_8cpp.html
ac58b01f0b93f15475d9c86877591a1ad
collision_check.h
/tmp/ws/src/moveit/moveit_ros/moveit_servo/include/moveit_servo/
collision__check_8h.html
moveit_servo/servo_parameters.h
moveit_servo/low_pass_filter.h
moveit_servo::CollisionCheck
moveit_servo
CollisionCheckType
namespacemoveit__servo.html
a0f88f74045a858c60249d37ecd131701
K_THRESHOLD_DISTANCE
namespacemoveit__servo.html
a0f88f74045a858c60249d37ecd131701a48487c1f0ad8c7662586f05648e3abd3
K_STOP_DISTANCE
namespacemoveit__servo.html
a0f88f74045a858c60249d37ecd131701a3e7bcbbb451928b98b1f02eeef03f03f
cpp_interface_example.cpp
/tmp/ws/src/moveit/moveit_ros/moveit_servo/src/cpp_interface_example/
cpp__interface__example_8cpp.html
moveit_servo/servo.h
moveit_servo/status_codes.h
moveit_servo/make_shared_from_pool.h
StatusMonitor
int
main
cpp__interface__example_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
static const std::string
LOGNAME
cpp__interface__example_8cpp.html
ae204778bbd53a8bd3c1fbbaf111b6177
low_pass_filter.cpp
/tmp/ws/src/moveit/moveit_ros/moveit_servo/src/
low__pass__filter_8cpp.html
moveit_servo/low_pass_filter.h
moveit_servo
low_pass_filter.h
/tmp/ws/src/moveit/moveit_ros/moveit_servo/include/moveit_servo/
low__pass__filter_8h.html
moveit_servo::LowPassFilter
moveit_servo
make_shared_from_pool.h
/tmp/ws/src/moveit/moveit_ros/moveit_servo/include/moveit_servo/
make__shared__from__pool_8h.html
moveit
moveit::util
boost::shared_ptr< T >
make_shared_from_pool
namespacemoveit_1_1util.html
a53c45b18a349d3a6296ea208b2383f2f
()
pose_tracking.cpp
/tmp/ws/src/moveit/moveit_ros/moveit_servo/src/
pose__tracking_8cpp.html
moveit_servo/pose_tracking.h
moveit_servo
pose_tracking.h
/tmp/ws/src/moveit/moveit_ros/moveit_servo/include/moveit_servo/
pose__tracking_8h.html
moveit_servo/make_shared_from_pool.h
moveit_servo/servo.h
moveit_servo::PIDConfig
moveit_servo::PoseTracking
moveit_servo
std::shared_ptr< PoseTracking >
PoseTrackingPtr
namespacemoveit__servo.html
a5beddf2504c922f63942ca6bff5bef3a
PoseTrackingStatusCode
namespacemoveit__servo.html
a72baa5ed9c5fc60a76a9cddfce6b5548
INVALID
SUCCESS
NO_RECENT_TARGET_POSE
NO_RECENT_END_EFFECTOR_POSE
STOP_REQUESTED
const std::unordered_map< PoseTrackingStatusCode, std::string >
POSE_TRACKING_STATUS_CODE_MAP
namespacemoveit__servo.html
a10063149c6b08a77854ceafff0b68e14
({ { PoseTrackingStatusCode::INVALID, "Invalid" }, { PoseTrackingStatusCode::SUCCESS, "Success" }, { PoseTrackingStatusCode::NO_RECENT_TARGET_POSE, "No recent target pose" }, { PoseTrackingStatusCode::NO_RECENT_END_EFFECTOR_POSE, "No recent end effector pose" }, { PoseTrackingStatusCode::STOP_REQUESTED, "Stop requested" } })
pose_tracking_example.cpp
/tmp/ws/src/moveit/moveit_ros/moveit_servo/src/cpp_interface_example/
pose__tracking__example_8cpp.html
moveit_servo/servo.h
moveit_servo/pose_tracking.h
moveit_servo/status_codes.h
moveit_servo/make_shared_from_pool.h
StatusMonitor
int
main
pose__tracking__example_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
static const std::string
LOGNAME
pose__tracking__example_8cpp.html
ae204778bbd53a8bd3c1fbbaf111b6177
pose_tracking_test.cpp
/tmp/ws/src/moveit/moveit_ros/moveit_servo/test/
pose__tracking__test_8cpp.html
moveit_servo/pose_tracking.h
moveit_servo/make_shared_from_pool.h
moveit_servo::PoseTrackingFixture
moveit_servo
int
main
pose__tracking__test_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
TEST_F
namespacemoveit__servo.html
a8edf9cfa55723e9959c43228f5cb7f14
(PoseTrackingFixture, OutgoingMsgTest)
static const std::string
LOGNAME
pose__tracking__test_8cpp.html
ae204778bbd53a8bd3c1fbbaf111b6177
static constexpr double
ROS_PUB_SUB_DELAY
pose__tracking__test_8cpp.html
a0d8a0a899895364ecb8ace24824b01b0
static constexpr double
ROTATION_TOLERANCE
pose__tracking__test_8cpp.html
a71326ccc337340474b0b8a8256d8d4f7
static constexpr double
TRANSLATION_TOLERANCE
pose__tracking__test_8cpp.html
aad64ce1fa52642071ea9010533fe179b
servo.cpp
/tmp/ws/src/moveit/moveit_ros/moveit_servo/src/
servo_8cpp.html
moveit_servo/make_shared_from_pool.h
moveit_servo/servo.h
moveit_servo
static const std::string
LOGNAME
servo_8cpp.html
ae204778bbd53a8bd3c1fbbaf111b6177
servo.h
/tmp/ws/src/moveit/moveit_ros/moveit_servo/include/moveit_servo/
servo_8h.html
moveit_servo/collision_check.h
moveit_servo/servo_parameters.h
moveit_servo/servo_calcs.h
moveit_servo::Servo
moveit_servo
std::shared_ptr< Servo >
ServoPtr
namespacemoveit__servo.html
acb3ea7ccdadbae2b565f76ab34a16c19
servo_calcs.cpp
/tmp/ws/src/moveit/moveit_ros/moveit_servo/src/
servo__calcs_8cpp.html
moveit_servo/make_shared_from_pool.h
moveit_servo/servo_calcs.h
moveit_servo
static const std::string
LOGNAME
servo__calcs_8cpp.html
ae204778bbd53a8bd3c1fbbaf111b6177
constexpr size_t
ROS_LOG_THROTTLE_PERIOD
servo__calcs_8cpp.html
ac58b01f0b93f15475d9c86877591a1ad
servo_calcs.h
/tmp/ws/src/moveit/moveit_ros/moveit_servo/include/moveit_servo/
servo__calcs_8h.html
moveit_servo/servo_parameters.h
moveit_servo/status_codes.h
moveit_servo/low_pass_filter.h
moveit_servo::ServoCalcs
moveit_servo
servo_cpp_interface_test.cpp
/tmp/ws/src/moveit/moveit_ros/moveit_servo/test/
servo__cpp__interface__test_8cpp.html
moveit_servo/make_shared_from_pool.h
moveit_servo/servo.h
moveit_servo::ServoFixture
moveit_servo
int
main
servo__cpp__interface__test_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
TEST_F
namespacemoveit__servo.html
a564db9da62d560ec1f13099e82c8e6a0
(ServoFixture, JointVelocityEnforcementTest)
TEST_F
namespacemoveit__servo.html
a515a60c03984fa0b9117f530acf23970
(ServoFixture, SendJointServoTest)
TEST_F
namespacemoveit__servo.html
ac23c005d46e36b6782e787628a1407fa
(ServoFixture, SendTwistStampedTest)
TEST_F
namespacemoveit__servo.html
a0c32ca5e9d3bb1633486c8aaad0202c3
(ServoFixture, StartStopTest)
static constexpr double
LARGEST_ALLOWABLE_PANDA_VEL
servo__cpp__interface__test_8cpp.html
a1d479d6b231a7f1cc845313bed8b455a
static const std::string
LOGNAME
servo__cpp__interface__test_8cpp.html
ae204778bbd53a8bd3c1fbbaf111b6177
servo_parameters.h
/tmp/ws/src/moveit/moveit_ros/moveit_servo/include/moveit_servo/
servo__parameters_8h.html
moveit_servo::ServoParameters
moveit_servo
constexpr size_t
ROS_QUEUE_SIZE
namespacemoveit__servo.html
a9a621d10395f1b42feb05ea21ba46448
servo_server.cpp
/tmp/ws/src/moveit/moveit_ros/moveit_servo/src/
servo__server_8cpp.html
moveit_servo/servo.h
int
main
servo__server_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
spacenav_to_twist.cpp
/tmp/ws/src/moveit/moveit_ros/moveit_servo/src/teleop_examples/
spacenav__to__twist_8cpp.html
moveit_servo::SpaceNavToTwist
moveit_servo
int
main
spacenav__to__twist_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
static const int
NUM_SPINNERS
namespacemoveit__servo.html
a2dc0e7b368bd40dea30fd8385f02b7ac
static const int
QUEUE_LENGTH
namespacemoveit__servo.html
ae59541739c8b7d8d3d3993f18e3f188f
status_codes.h
/tmp/ws/src/moveit/moveit_ros/moveit_servo/include/moveit_servo/
status__codes_8h.html
moveit_servo
StatusCode
namespacemoveit__servo.html
a645be72fe1553806404002b7cb52b43f
INVALID
NO_WARNING
DECELERATE_FOR_SINGULARITY
HALT_FOR_SINGULARITY
DECELERATE_FOR_COLLISION
HALT_FOR_COLLISION
JOINT_BOUND
const std::unordered_map< StatusCode, std::string >
SERVO_STATUS_CODE_MAP
namespacemoveit__servo.html
ad7fbffcbbd4f9cea09e63e0a1c81c624
({ { StatusCode::INVALID, "Invalid" }, { StatusCode::NO_WARNING, "No warnings" }, { StatusCode::DECELERATE_FOR_SINGULARITY, "Close to a singularity, decelerating" }, { StatusCode::HALT_FOR_SINGULARITY, "Very close to a singularity, emergency stop" }, { StatusCode::DECELERATE_FOR_COLLISION, "Close to a collision, decelerating" }, { StatusCode::HALT_FOR_COLLISION, "Collision detected, emergency stop" }, { StatusCode::JOINT_BOUND, "Close to a joint bound (position or velocity), halting" } })
moveit_servo::CollisionCheck
classmoveit__servo_1_1CollisionCheck.html
CollisionCheck
classmoveit__servo_1_1CollisionCheck.html
a90af47ffb3e4a90d922436b749f7eb8a
(ros::NodeHandle &nh, const moveit_servo::ServoParameters ¶meters, const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor)
void
setPaused
classmoveit__servo_1_1CollisionCheck.html
a0fe9bae265923f1d6326ec343eb84436
(bool paused)
void
start
classmoveit__servo_1_1CollisionCheck.html
ad124ad75620cc0c7d65a2842cf71c50c
()
~CollisionCheck
classmoveit__servo_1_1CollisionCheck.html
ac6308c715d06559788c976c49ff7c9a0
()
planning_scene_monitor::LockedPlanningSceneRO
getLockedPlanningSceneRO
classmoveit__servo_1_1CollisionCheck.html
ab2e234d9813a7eb7da9a725dfdef3ffb
() const
void
run
classmoveit__servo_1_1CollisionCheck.html
ae988a4223c3b2932a59f05892d6d8d1d
(const ros::TimerEvent &timer_event)
void
worstCaseStopTimeCB
classmoveit__servo_1_1CollisionCheck.html
a63b479159a30ed49ab0f42473580ed14
(const std_msgs::Float64ConstPtr &msg)
collision_detection::AllowedCollisionMatrix
acm_
classmoveit__servo_1_1CollisionCheck.html
a82d973d8f66f1cb949dbf98c895df74e
CollisionCheckType
collision_check_type_
classmoveit__servo_1_1CollisionCheck.html
a11ce9df53b1400b223045b6d2a0710d0
bool
collision_detected_
classmoveit__servo_1_1CollisionCheck.html
af92bfe8de1eda81dd981748ea8e924db
collision_detection::CollisionRequest
collision_request_
classmoveit__servo_1_1CollisionCheck.html
ad2eab59bc8df7d8150c52a80bb6083be
collision_detection::CollisionResult
collision_result_
classmoveit__servo_1_1CollisionCheck.html
a7da944c5db7b0f17c7c4ae727f245423
ros::Publisher
collision_velocity_scale_pub_
classmoveit__servo_1_1CollisionCheck.html
a8df318dbfb3e76c136f3269eb4f42dbc
double
current_collision_distance_
classmoveit__servo_1_1CollisionCheck.html
a561e61021244390598e78f6dbfabcf43
std::shared_ptr< moveit::core::RobotState >
current_state_
classmoveit__servo_1_1CollisionCheck.html
a18cfe82357ad9afa5f52ed1cf009de47
double
derivative_of_collision_distance_
classmoveit__servo_1_1CollisionCheck.html
adc95292d96bda5df6020e8b54d9cef85
double
est_time_to_collision_
classmoveit__servo_1_1CollisionCheck.html
ad63faf21259aa73769eb5852b73de418
ros::Subscriber
joint_state_sub_
classmoveit__servo_1_1CollisionCheck.html
a17c1bfcfef3f1289a1f5cda1869b0264
ros::NodeHandle
nh_
classmoveit__servo_1_1CollisionCheck.html
a2ef76fa1b557ca4d55e5f602219e8f43
const ServoParameters &
parameters_
classmoveit__servo_1_1CollisionCheck.html
a02830ef101669f94628085c0f6ff0745
bool
paused_
classmoveit__servo_1_1CollisionCheck.html
aa7a5d68c31788203dc779bd42e85502f
ros::Duration
period_
classmoveit__servo_1_1CollisionCheck.html
aef97b83cb67aa48adb2573f6b8f97c5a
planning_scene_monitor::PlanningSceneMonitorPtr
planning_scene_monitor_
classmoveit__servo_1_1CollisionCheck.html
a69c13d6c8d1eca93928410fa138c74fe
double
prev_collision_distance_
classmoveit__servo_1_1CollisionCheck.html
a345d480f361108e3f77727b4e95f2cf0
double
safety_factor_
classmoveit__servo_1_1CollisionCheck.html
a680ea6b843391a8bf84727a642b53dc5
double
scene_collision_distance_
classmoveit__servo_1_1CollisionCheck.html
aabb528529f9b7b1260a7751a079378df
const double
scene_velocity_scale_coefficient_
classmoveit__servo_1_1CollisionCheck.html
a592f97b94aa0b56f411549d21ee70c26
double
self_collision_distance_
classmoveit__servo_1_1CollisionCheck.html
ac816c4a1e8c6e4d527317971ada8ecce
const double
self_velocity_scale_coefficient_
classmoveit__servo_1_1CollisionCheck.html
ad7dd6b20d37c2ca8d7d86282adf33aac
ros::Timer
timer_
classmoveit__servo_1_1CollisionCheck.html
a99359905e62fdb565d38274c7a7270ef
double
velocity_scale_
classmoveit__servo_1_1CollisionCheck.html
a74b3e605a30a213fed72a7efa22d3d24
double
worst_case_stop_time_
classmoveit__servo_1_1CollisionCheck.html
ab6464b73473601111ead74b441a83725
ros::Subscriber
worst_case_stop_time_sub_
classmoveit__servo_1_1CollisionCheck.html
a2436fd074ceaefa6a017101b8cabf8d7
moveit_servo::LowPassFilter
classmoveit__servo_1_1LowPassFilter.html
double
filter
classmoveit__servo_1_1LowPassFilter.html
a5fbf9d17143f551c3ffbd8a1668d52bf
(double new_measurement)
LowPassFilter
classmoveit__servo_1_1LowPassFilter.html
a2d55618ed7c94092ccd3147d3510a61c
(double low_pass_filter_coeff)
void
reset
classmoveit__servo_1_1LowPassFilter.html
af07c0d8cbf57b9dcbba45ab5b249f80f
(double data)
double
feedback_term_
classmoveit__servo_1_1LowPassFilter.html
abd6ea62e78424c1f86ee83581c21ec75
double
previous_filtered_measurement_
classmoveit__servo_1_1LowPassFilter.html
a2c41bb824ea93d772121e86f151d9e41
double
previous_measurements_
classmoveit__servo_1_1LowPassFilter.html
a3b95d9547ba1d0084ae15768d28e1017
[FILTER_LENGTH]
double
scale_term_
classmoveit__servo_1_1LowPassFilter.html
a772ccb9f3dad5402965b11fac7fc4fbb
static constexpr std::size_t
FILTER_LENGTH
classmoveit__servo_1_1LowPassFilter.html
ab2e73d1336f6eaf6b01239eb6efcff93
moveit_servo::PIDConfig
structmoveit__servo_1_1PIDConfig.html
double
dt
structmoveit__servo_1_1PIDConfig.html
af6e1fc269f841892331329ca360c72fb
double
k_d
structmoveit__servo_1_1PIDConfig.html
a5396f574aa7b7fdc5cf831e540859735
double
k_i
structmoveit__servo_1_1PIDConfig.html
ab4038708344b744fd54d3d51b13099de
double
k_p
structmoveit__servo_1_1PIDConfig.html
aff96e6903b3f86a57f51489dc6521894
double
windup_limit
structmoveit__servo_1_1PIDConfig.html
a2a0b19b3f893efc8702728897ca44adb
moveit_servo::PoseTracking
classmoveit__servo_1_1PoseTracking.html
bool
getCommandFrameTransform
classmoveit__servo_1_1PoseTracking.html
a6c2d5429e64c05a58d77647c3dbdc485
(geometry_msgs::TransformStamped &transform)
void
getPIDErrors
classmoveit__servo_1_1PoseTracking.html
a0407fdb695c09b890ca1c0ff516c9007
(double &x_error, double &y_error, double &z_error, double &orientation_error)
PoseTrackingStatusCode
moveToPose
classmoveit__servo_1_1PoseTracking.html
a1d7046c89fba7df3f812e970ec6cfa96
(const Eigen::Vector3d &positional_tolerance, const double angular_tolerance, const double target_pose_timeout)
PoseTracking
classmoveit__servo_1_1PoseTracking.html
aa9bca42b70712183743ff44b39955168
(const ros::NodeHandle &nh, const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor)
void
resetTargetPose
classmoveit__servo_1_1PoseTracking.html
ac9dba791fb8bd5b64aa8f76122d326e1
()
void
stopMotion
classmoveit__servo_1_1PoseTracking.html
aa38b7b59ca81d408bdaa27c529046577
()
void
updatePIDConfig
classmoveit__servo_1_1PoseTracking.html
ad39f332875049b2e933d55fa4e4c5970
(const double x_proportional_gain, const double x_integral_gain, const double x_derivative_gain, const double y_proportional_gain, const double y_integral_gain, const double y_derivative_gain, const double z_proportional_gain, const double z_integral_gain, const double z_derivative_gain, const double angular_proportional_gain, const double angular_integral_gain, const double angular_derivative_gain)
std::unique_ptr< moveit_servo::Servo >
servo_
classmoveit__servo_1_1PoseTracking.html
a86b4351a4f8b4ca85ec928fd0e38f62f
geometry_msgs::TwistStampedConstPtr
calculateTwistCommand
classmoveit__servo_1_1PoseTracking.html
a265cccf71b4fca9c488209cf57609836
()
void
doPostMotionReset
classmoveit__servo_1_1PoseTracking.html
a344f6efe58aef1f8f868191ecd9d73e4
()
bool
haveRecentEndEffectorPose
classmoveit__servo_1_1PoseTracking.html
a8527573e403e54b153f95d0482eb91b8
(const double timeout)
bool
haveRecentTargetPose
classmoveit__servo_1_1PoseTracking.html
ac7ae25116fddd5eaad8b97ba6e5c7775
(const double timeout)
void
initializePID
classmoveit__servo_1_1PoseTracking.html
a3e61d46b5644c01d39bf2912379c8c64
(const PIDConfig &pid_config, std::vector< control_toolbox::Pid > &pid_vector)
void
readROSParams
classmoveit__servo_1_1PoseTracking.html
ac3cb6a6bbe23cabe92367874dabb2826
()
bool
satisfiesPoseTolerance
classmoveit__servo_1_1PoseTracking.html
a0ef7544f4246f0f79d87da5784b9af90
(const Eigen::Vector3d &positional_tolerance, const double angular_tolerance)
void
targetPoseCallback
classmoveit__servo_1_1PoseTracking.html
ac68cc2f1372db5de9211715d9de4c2d2
(const geometry_msgs::PoseStampedConstPtr &msg)
void
updateControllerSetpoints
classmoveit__servo_1_1PoseTracking.html
a82858fee895e349e8b80dc961595d1fe
()
void
updateControllerStateMeasurements
classmoveit__servo_1_1PoseTracking.html
adc9ccc7ce536997cd08224e8f6fe7447
()
boost::optional< double >
angular_error_
classmoveit__servo_1_1PoseTracking.html
a0089166e75db33a869745a76417f3df0
PIDConfig
angular_pid_config_
classmoveit__servo_1_1PoseTracking.html
a55d4579baa70f7711d72079c090c4896
std::vector< control_toolbox::Pid >
cartesian_orientation_pids_
classmoveit__servo_1_1PoseTracking.html
a588ad50039ba745028b1e8eacb688a2e
std::vector< control_toolbox::Pid >
cartesian_position_pids_
classmoveit__servo_1_1PoseTracking.html
a273830724645377659964d1f7781aa59
Eigen::Isometry3d
command_frame_transform_
classmoveit__servo_1_1PoseTracking.html
ab515531906496d572e3eb14a487e06c2
ros::Time
command_frame_transform_stamp_
classmoveit__servo_1_1PoseTracking.html
add65a24c9f0a93632abf93c030a09d34
const moveit::core::JointModelGroup *
joint_model_group_
classmoveit__servo_1_1PoseTracking.html
a2e827237fc83905228abbcce5c35e078
ros::Rate
loop_rate_
classmoveit__servo_1_1PoseTracking.html
aeca457ee0a7a6910cf49daa51f31363a
std::string
move_group_name_
classmoveit__servo_1_1PoseTracking.html
ab97d853666a3aa78311885d45ea1593d
ros::NodeHandle
nh_
classmoveit__servo_1_1PoseTracking.html
a8fa411350617eb5dfa93b409b0341bf6
std::string
planning_frame_
classmoveit__servo_1_1PoseTracking.html
aa5762fd5290145296f0ff8643016192c
planning_scene_monitor::PlanningSceneMonitorPtr
planning_scene_monitor_
classmoveit__servo_1_1PoseTracking.html
a5fb4c93882470f48331a9ee82b118df7
robot_model::RobotModelConstPtr
robot_model_
classmoveit__servo_1_1PoseTracking.html
a820a8b1254c5de579f03bfa921e7c932
std::atomic< bool >
stop_requested_
classmoveit__servo_1_1PoseTracking.html
aa937ec6c9bd9832a6fc8ef4ba4762535
geometry_msgs::PoseStamped
target_pose_
classmoveit__servo_1_1PoseTracking.html
a6911b3c0400f4b03c616e8a971efbc80
std::mutex
target_pose_mtx_
classmoveit__servo_1_1PoseTracking.html
ac9b9b5b85e934f09a238431598fcaab5
ros::Subscriber
target_pose_sub_
classmoveit__servo_1_1PoseTracking.html
ada2c783189067c5308230720a7bb678c
tf2_ros::Buffer
transform_buffer_
classmoveit__servo_1_1PoseTracking.html
acf54d00b54c0226652ce8304b92096bf
tf2_ros::TransformListener
transform_listener_
classmoveit__servo_1_1PoseTracking.html
ad3583898b768676d3a6cc488010b0355
ros::Publisher
twist_stamped_pub_
classmoveit__servo_1_1PoseTracking.html
a5e9b494ceed7f6ebf06ed72ee0451aa2
PIDConfig
x_pid_config_
classmoveit__servo_1_1PoseTracking.html
a4dd6eff339b856d26c67da92ec278820
PIDConfig
y_pid_config_
classmoveit__servo_1_1PoseTracking.html
a5470e9af05da7fded4defe60ae0c3e9c
PIDConfig
z_pid_config_
classmoveit__servo_1_1PoseTracking.html
aac896fc1b880ed377e25bb0830bd1980
moveit_servo::PoseTrackingFixture
classmoveit__servo_1_1PoseTrackingFixture.html
testing::Test
void
SetUp
classmoveit__servo_1_1PoseTrackingFixture.html
aea860730bea0efbf15f46dd6c45f2c3b
() override
void
TearDown
classmoveit__servo_1_1PoseTrackingFixture.html
a949e42abc8225fbe0aa44f71b6abe267
() override
ros::NodeHandle
nh_
classmoveit__servo_1_1PoseTrackingFixture.html
a94ba2f01d521d5071bdb6349968b5420
planning_scene_monitor::PlanningSceneMonitorPtr
planning_scene_monitor_
classmoveit__servo_1_1PoseTrackingFixture.html
aed61798d773be7131141f4fe6adce480
ros::Publisher
target_pose_pub_
classmoveit__servo_1_1PoseTrackingFixture.html
ac2daa62941967080aa60a4dae2d6d9d8
moveit_servo::PoseTrackingPtr
tracker_
classmoveit__servo_1_1PoseTrackingFixture.html
a9886a305a1b1fdf46de566fecff6aa7a
Eigen::Vector3d
translation_tolerance_
classmoveit__servo_1_1PoseTrackingFixture.html
a073749fd81825f8d005870e90235c6e6
moveit_servo::Servo
classmoveit__servo_1_1Servo.html
void
changeRobotLinkCommandFrame
classmoveit__servo_1_1Servo.html
ac5e9887f2256d047561d090816feb391
(const std::string &new_command_frame)
bool
getCommandFrameTransform
classmoveit__servo_1_1Servo.html
ac0c2b87720eb98be6104edba77ed064f
(Eigen::Isometry3d &transform)
bool
getCommandFrameTransform
classmoveit__servo_1_1Servo.html
a877609009f9f30e8f9d957c0a0ddd937
(geometry_msgs::TransformStamped &transform)
bool
getEEFrameTransform
classmoveit__servo_1_1Servo.html
a444a3a8336f9c3d1417f2d3305673722
(Eigen::Isometry3d &transform)
bool
getEEFrameTransform
classmoveit__servo_1_1Servo.html
acf7459728ffe678659f18d9af3250cea
(geometry_msgs::TransformStamped &transform)
const ServoParameters &
getParameters
classmoveit__servo_1_1Servo.html
a22b28062220719f189ce302fe5a64036
() const
Servo
classmoveit__servo_1_1Servo.html
abbdfd986b7c5d697687417d86ed70135
(ros::NodeHandle &nh, const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor)
void
setPaused
classmoveit__servo_1_1Servo.html
a182da777812d57a453a1ed6c372769b1
(bool paused)
void
start
classmoveit__servo_1_1Servo.html
a84b0b778593472c37e386a113bcc16d6
()
~Servo
classmoveit__servo_1_1Servo.html
a2e5dad8ca0564ff58c410968074b8932
()
bool
readParameters
classmoveit__servo_1_1Servo.html
a939244b35c4542335586ff1ddb2c0be7
()
std::unique_ptr< CollisionCheck >
collision_checker_
classmoveit__servo_1_1Servo.html
a4909b8241b0611b7416b558a146f2a62
ros::NodeHandle
nh_
classmoveit__servo_1_1Servo.html
a904786372a08fef50709214e0b2d76a5
ServoParameters
parameters_
classmoveit__servo_1_1Servo.html
a35afa2efb7f64222ac66cc38e2f4192a
planning_scene_monitor::PlanningSceneMonitorPtr
planning_scene_monitor_
classmoveit__servo_1_1Servo.html
add031e35ae036f201a9c70758ca8bef5
std::unique_ptr< ServoCalcs >
servo_calcs_
classmoveit__servo_1_1Servo.html
aab5858758228765ef253a87812e96211
friend class
ServoFixture
classmoveit__servo_1_1Servo.html
ad643b0199692c52cea7ec5f84f4121f9
moveit_servo::ServoCalcs
classmoveit__servo_1_1ServoCalcs.html
void
changeRobotLinkCommandFrame
classmoveit__servo_1_1ServoCalcs.html
a0641ef2b26a8276c64a717969d62d871
(const std::string &new_command_frame)
bool
getCommandFrameTransform
classmoveit__servo_1_1ServoCalcs.html
ad187f1f7368b59015c3f8510b3cdf108
(Eigen::Isometry3d &transform)
bool
getCommandFrameTransform
classmoveit__servo_1_1ServoCalcs.html
afa6fcbd6c4eb7413304b8cf708b0a789
(geometry_msgs::TransformStamped &transform)
bool
getEEFrameTransform
classmoveit__servo_1_1ServoCalcs.html
a9fd78efe0a668e0ac68573e2b11f8e54
(Eigen::Isometry3d &transform)
bool
getEEFrameTransform
classmoveit__servo_1_1ServoCalcs.html
afce011c3240f1cf0d069acdfc8ff4ead
(geometry_msgs::TransformStamped &transform)
ServoCalcs
classmoveit__servo_1_1ServoCalcs.html
a439e56d36c5934f610fa5885cf86e9b6
(ros::NodeHandle &nh, ServoParameters ¶meters, const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor)
void
setPaused
classmoveit__servo_1_1ServoCalcs.html
a356f9900e1b5d79289d349f68dc69fa9
(bool paused)
void
start
classmoveit__servo_1_1ServoCalcs.html
ad942432113d0c473d1b04acfcb21e052
()
~ServoCalcs
classmoveit__servo_1_1ServoCalcs.html
aae9ff6c93e17c079703c0f5815b57a1c
()
bool
addJointIncrements
classmoveit__servo_1_1ServoCalcs.html
a6e93c8148864a9b1cd30e25f5d8d8c7c
(sensor_msgs::JointState &output, const Eigen::VectorXd &increments) const
void
applyVelocityScaling
classmoveit__servo_1_1ServoCalcs.html
a162c68a7efde1cb7b835efdafe9e7ec4
(Eigen::ArrayXd &delta_theta, double singularity_scale)
void
calculateJointVelocities
classmoveit__servo_1_1ServoCalcs.html
ae609c9a65e9e7d78dcb9f74ae0d17402
(sensor_msgs::JointState &joint_state, const Eigen::ArrayXd &delta_theta)
void
calculateSingleIteration
classmoveit__servo_1_1ServoCalcs.html
abc7fc9277c10322e7af56c7e889c2cd8
()
bool
cartesianServoCalcs
classmoveit__servo_1_1ServoCalcs.html
a653940cd80a6dfc0c6ffc6bf965a6c0b
(geometry_msgs::TwistStamped &cmd, trajectory_msgs::JointTrajectory &joint_trajectory)
bool
changeControlDimensions
classmoveit__servo_1_1ServoCalcs.html
a7747abf74ca9d199995a31997d8ad7ba
(moveit_msgs::ChangeControlDimensions::Request &req, moveit_msgs::ChangeControlDimensions::Response &res)
bool
changeDriftDimensions
classmoveit__servo_1_1ServoCalcs.html
a7d86bf7d0f089113c0157d0a990ae068
(moveit_msgs::ChangeDriftDimensions::Request &req, moveit_msgs::ChangeDriftDimensions::Response &res)
void
collisionVelocityScaleCB
classmoveit__servo_1_1ServoCalcs.html
a1b4a4fa75debd63af77915ed70bd0f84
(const std_msgs::Float64ConstPtr &msg)
void
composeJointTrajMessage
classmoveit__servo_1_1ServoCalcs.html
abe8d8058317364d590c2985d55982ac1
(const sensor_msgs::JointState &joint_state, trajectory_msgs::JointTrajectory &joint_trajectory) const
bool
convertDeltasToOutgoingCmd
classmoveit__servo_1_1ServoCalcs.html
a33b182999e56f9dd8697fe79864ff737
(trajectory_msgs::JointTrajectory &joint_trajectory)
bool
enforcePositionLimits
classmoveit__servo_1_1ServoCalcs.html
a8f19ec9ee733f2fe432f987527c577c9
(sensor_msgs::JointState &joint_state)
void
enforceVelLimits
classmoveit__servo_1_1ServoCalcs.html
afbafe8899db26a7dbc338261c0a5fd2f
(Eigen::ArrayXd &delta_theta)
void
insertRedundantPointsIntoTrajectory
classmoveit__servo_1_1ServoCalcs.html
a360d8ff30f7bc2bbf5f9c11a4f091ff8
(trajectory_msgs::JointTrajectory &joint_trajectory, int count) const
void
jointCmdCB
classmoveit__servo_1_1ServoCalcs.html
aafa523716eadf2fc5ef2bbe91c5de43f
(const control_msgs::JointJogConstPtr &msg)
bool
jointServoCalcs
classmoveit__servo_1_1ServoCalcs.html
a1f83c13b0b5cd1be322ba7b6d302487b
(const control_msgs::JointJog &cmd, trajectory_msgs::JointTrajectory &joint_trajectory)
void
jointStateCB
classmoveit__servo_1_1ServoCalcs.html
a3d77050e5fb0a4a4be2d788040a9c07e
(const sensor_msgs::JointStateConstPtr &msg)
void
lowPassFilterPositions
classmoveit__servo_1_1ServoCalcs.html
ac13947dcf95b7adff8847f05bb16b3c6
(sensor_msgs::JointState &joint_state)
void
mainCalcLoop
classmoveit__servo_1_1ServoCalcs.html
abada414babad9c28179c0ce88ca6917b
()
void
removeDimension
classmoveit__servo_1_1ServoCalcs.html
ae71919889e9be63e06941142094f1dc0
(Eigen::MatrixXd &matrix, Eigen::VectorXd &delta_x, unsigned int row_to_remove)
void
resetLowPassFilters
classmoveit__servo_1_1ServoCalcs.html
ac7e33efe86331e5aa34ef9b4847fa6cc
(const sensor_msgs::JointState &joint_state)
bool
resetServoStatus
classmoveit__servo_1_1ServoCalcs.html
aae3d9b4817e3bace6c8b4f1299ac003a
(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
Eigen::VectorXd
scaleCartesianCommand
classmoveit__servo_1_1ServoCalcs.html
a8d9c87f44a2c2e3915b6eb9a53d69bde
(const geometry_msgs::TwistStamped &command) const
Eigen::VectorXd
scaleJointCommand
classmoveit__servo_1_1ServoCalcs.html
acdd5d72c8dbb9e9ecdc2a96e02996950
(const control_msgs::JointJog &command) const
void
stop
classmoveit__servo_1_1ServoCalcs.html
a5a4b2167b817a799d0e64f3c9351565e
()
void
suddenHalt
classmoveit__servo_1_1ServoCalcs.html
aaca82e3afb959dbc5e66d19bff5f2f76
(trajectory_msgs::JointTrajectory &joint_trajectory)
void
twistStampedCB
classmoveit__servo_1_1ServoCalcs.html
a4b168437bcf65bf7d9405fc8f9b4d5d6
(const geometry_msgs::TwistStampedConstPtr &msg)
void
updateJoints
classmoveit__servo_1_1ServoCalcs.html
a260b6c6b88aef1500eae3959e7ca774c
()
double
velocityScalingFactorForSingularity
classmoveit__servo_1_1ServoCalcs.html
a4b10bbcd55ca716e56faf9bf2b91e050
(const Eigen::VectorXd &commanded_velocity, const Eigen::JacobiSVD< Eigen::MatrixXd > &svd, const Eigen::MatrixXd &pseudo_inverse)
double
collision_velocity_scale_
classmoveit__servo_1_1ServoCalcs.html
a5ab3d13f8485f6e8681621e2d8a78cf6
ros::Subscriber
collision_velocity_scale_sub_
classmoveit__servo_1_1ServoCalcs.html
a6cfc0f0b414bfcc93184b402d5f74cf7
std::array< bool, 6 >
control_dimensions_
classmoveit__servo_1_1ServoCalcs.html
a138a749e691f0051b4d4204ab0e3976c
ros::ServiceServer
control_dimensions_server_
classmoveit__servo_1_1ServoCalcs.html
a07039ab7d98e39ebe08a917e18ff2414
moveit::core::RobotStatePtr
current_state_
classmoveit__servo_1_1ServoCalcs.html
a1df8115a4e0fb2086f53655d33b504a8
Eigen::ArrayXd
delta_theta_
classmoveit__servo_1_1ServoCalcs.html
a942405c985373c8f187a1fb3cc699c44
std::array< bool, 6 >
drift_dimensions_
classmoveit__servo_1_1ServoCalcs.html
a15ac6a6e23150e6114c635d512815318
ros::ServiceServer
drift_dimensions_server_
classmoveit__servo_1_1ServoCalcs.html
a2e0963cccb0c4b21dc789d1648af03ed
const int
gazebo_redundant_message_count_
classmoveit__servo_1_1ServoCalcs.html
a4df12a522972a0c979915b5c2da84736
bool
have_nonzero_command_
classmoveit__servo_1_1ServoCalcs.html
abbe4f0738bf663a05763aed488a73ac9
bool
have_nonzero_joint_command_
classmoveit__servo_1_1ServoCalcs.html
a06376b8903c5830f04b933eae96665a8
bool
have_nonzero_twist_stamped_
classmoveit__servo_1_1ServoCalcs.html
ada6bdc7d17fd4eb6579885778f18b7e7
std::condition_variable
input_cv_
classmoveit__servo_1_1ServoCalcs.html
a90e799288cd53d20013e929ee6749e17
std::mutex
input_mutex_
classmoveit__servo_1_1ServoCalcs.html
ab779eb3bab87eaab7d64a37f8c8eac02
sensor_msgs::JointState
internal_joint_state_
classmoveit__servo_1_1ServoCalcs.html
aff516650e9c0018226e8a826de7ec041
ros::Subscriber
joint_cmd_sub_
classmoveit__servo_1_1ServoCalcs.html
a0e0b760ca7a96b8c2131e8abe3dbf73b
bool
joint_command_is_stale_
classmoveit__servo_1_1ServoCalcs.html
a8b28913e22189e8ca410d4ba48d40df3
const moveit::core::JointModelGroup *
joint_model_group_
classmoveit__servo_1_1ServoCalcs.html
ac49a2dbdf729530c8b2b958b10328546
control_msgs::JointJog
joint_servo_cmd_
classmoveit__servo_1_1ServoCalcs.html
af506918323bd9134c2d6a162d396fbf9
std::map< std::string, std::size_t >
joint_state_name_map_
classmoveit__servo_1_1ServoCalcs.html
a5419a5298e01d4bdf984618043cbc957
ros::Subscriber
joint_state_sub_
classmoveit__servo_1_1ServoCalcs.html
a3ad1b75150f8dcbb400eabbddf6d31b7
trajectory_msgs::JointTrajectoryConstPtr
last_sent_command_
classmoveit__servo_1_1ServoCalcs.html
aabef365d059b83e1a72adf05c967af3a
control_msgs::JointJogConstPtr
latest_joint_cmd_
classmoveit__servo_1_1ServoCalcs.html
aa795364a5b9237afc365d779602c91f1
ros::Time
latest_joint_command_stamp_
classmoveit__servo_1_1ServoCalcs.html
a8871efe9ffe0dd414efcadb7ca6f67ba
bool
latest_nonzero_joint_cmd_
classmoveit__servo_1_1ServoCalcs.html
a4b0757c01c1d1d23d57b76ff16333536
bool
latest_nonzero_twist_stamped_
classmoveit__servo_1_1ServoCalcs.html
abb24d43c651091ed3691b4a7935816cd
ros::Time
latest_twist_command_stamp_
classmoveit__servo_1_1ServoCalcs.html
ac8fa6e0470795eceb9246480dd528b8e
geometry_msgs::TwistStampedConstPtr
latest_twist_stamped_
classmoveit__servo_1_1ServoCalcs.html
a915b58137d1e0d1f51c9fbe187f98d3a
bool
new_input_cmd_
classmoveit__servo_1_1ServoCalcs.html
ae35ebca8ac9e5c1e1380b9ca0c06a561
ros::NodeHandle
nh_
classmoveit__servo_1_1ServoCalcs.html
ad8d55c67276d78462f18530085ba96a6
uint
num_joints_
classmoveit__servo_1_1ServoCalcs.html
ad4e9888c4ee1daa3b68e96dcdc713a78
bool
ok_to_publish_
classmoveit__servo_1_1ServoCalcs.html
ad80bc51194817894d01360c52370b6e2
sensor_msgs::JointState
original_joint_state_
classmoveit__servo_1_1ServoCalcs.html
a851167df167ac75d525e9d9add67deb4
ros::Publisher
outgoing_cmd_pub_
classmoveit__servo_1_1ServoCalcs.html
af0a82b513268bc389920604e734ee8c1
ServoParameters &
parameters_
classmoveit__servo_1_1ServoCalcs.html
a2abcc3615ece7c82350ea773afbd7f35
std::atomic< bool >
paused_
classmoveit__servo_1_1ServoCalcs.html
a0671a33638eb05dfa7d51a4dd727df63
planning_scene_monitor::PlanningSceneMonitorPtr
planning_scene_monitor_
classmoveit__servo_1_1ServoCalcs.html
acd5e9a9e0728f925752f0abfd7ca084f
std::vector< LowPassFilter >
position_filters_
classmoveit__servo_1_1ServoCalcs.html
abd574536d28b936b99750d28cf155bf2
Eigen::ArrayXd
prev_joint_velocity_
classmoveit__servo_1_1ServoCalcs.html
a694c5a9dff5d0ece0ef3c1870172afa0
ros::ServiceServer
reset_servo_status_
classmoveit__servo_1_1ServoCalcs.html
ad1fc70cc578e01afb5f6dcaa8dc2490e
StatusCode
status_
classmoveit__servo_1_1ServoCalcs.html
ad680bbf6cc98e01c7bef34272068b377
ros::Publisher
status_pub_
classmoveit__servo_1_1ServoCalcs.html
a847b95afa01b2c219d3fb766a78de9a8
bool
stop_requested_
classmoveit__servo_1_1ServoCalcs.html
a21886fd84e01fbb9711e24c31315acc2
Eigen::Isometry3d
tf_moveit_to_ee_frame_
classmoveit__servo_1_1ServoCalcs.html
a0fffb4abdd9f8df659ef81f395e33219
Eigen::Isometry3d
tf_moveit_to_robot_cmd_frame_
classmoveit__servo_1_1ServoCalcs.html
a43555d61ecd5e02fd018992a4920283a
std::thread
thread_
classmoveit__servo_1_1ServoCalcs.html
a105d1e5b159ea9f6de75c07250259ac3
bool
twist_command_is_stale_
classmoveit__servo_1_1ServoCalcs.html
a69b4812d5ccd3d908d2c8905e682b2e4
geometry_msgs::TwistStamped
twist_stamped_cmd_
classmoveit__servo_1_1ServoCalcs.html
ac2c7c8eb9dca1c69b226e1bc67a11d6a
ros::Subscriber
twist_stamped_sub_
classmoveit__servo_1_1ServoCalcs.html
a52d90a51bb5bd09b50c903909f34fec0
bool
updated_filters_
classmoveit__servo_1_1ServoCalcs.html
a371731350063398859367dcba710231f
bool
wait_for_servo_commands_
classmoveit__servo_1_1ServoCalcs.html
aa33d1fbc33eab7da62337a98613336c1
ros::Publisher
worst_case_stop_time_pub_
classmoveit__servo_1_1ServoCalcs.html
a507b425c3e2cda685f664a02bec6930b
int
zero_velocity_count_
classmoveit__servo_1_1ServoCalcs.html
a189d5f2f05f039446a7c2b38b1bb7a2c
friend class
ServoFixture
classmoveit__servo_1_1ServoCalcs.html
ad643b0199692c52cea7ec5f84f4121f9
moveit_servo::ServoFixture
classmoveit__servo_1_1ServoFixture.html
testing::Test
void
SetUp
classmoveit__servo_1_1ServoFixture.html
a9a23d7fbe0096cd62f29585869a27390
() override
void
SetUp
classmoveit__servo_1_1ServoFixture.html
a9a23d7fbe0096cd62f29585869a27390
() override
void
TearDown
classmoveit__servo_1_1ServoFixture.html
a438fe979da97914fd0200a958ffaffae
() override
void
TearDown
classmoveit__servo_1_1ServoFixture.html
a438fe979da97914fd0200a958ffaffae
() override
bool
waitForFirstStatus
classmoveit__servo_1_1ServoFixture.html
ad5aa53550ee14b6a94b1b7d8ee832ef6
()
void
enforceVelLimits
classmoveit__servo_1_1ServoFixture.html
a80511a153d666e62061656f1ff13aec5
(Eigen::ArrayXd &delta_theta)
ros::NodeHandle
nh_
classmoveit__servo_1_1ServoFixture.html
a27f4ae48760c8bd232b8d18a29f62e46
planning_scene_monitor::PlanningSceneMonitorPtr
planning_scene_monitor_
classmoveit__servo_1_1ServoFixture.html
aa23063449518580087bcb99024529356
moveit_servo::ServoPtr
servo_
classmoveit__servo_1_1ServoFixture.html
af46133044a5183bbcbda0b0e9c141299
moveit_servo::ServoParameters
structmoveit__servo_1_1ServoParameters.html
std::string
cartesian_command_in_topic
structmoveit__servo_1_1ServoParameters.html
a205c4a3218ca350dcfab13c3ba523824
bool
check_collisions
structmoveit__servo_1_1ServoParameters.html
a70e0da7a2703e2b75a2eb7d884c47a9d
double
collision_check_rate
structmoveit__servo_1_1ServoParameters.html
afe7ec0e142c055cb62645eab48c78b04
std::string
collision_check_type
structmoveit__servo_1_1ServoParameters.html
ad378d487f25661b5423025205173a71a
double
collision_distance_safety_factor
structmoveit__servo_1_1ServoParameters.html
ac28099c250431858c5c6cde2bf0f3c5d
std::string
command_in_type
structmoveit__servo_1_1ServoParameters.html
ad88547817294aeba35aa54f2fa6ad31d
std::string
command_out_topic
structmoveit__servo_1_1ServoParameters.html
a643ebac42abeed99157c36bfe4c392f2
std::string
command_out_type
structmoveit__servo_1_1ServoParameters.html
aba82219093cd0bed5de322da727f0530
std::string
ee_frame_name
structmoveit__servo_1_1ServoParameters.html
a9ab1858ad62fe5f0d56dec95cb2ade71
double
hard_stop_singularity_threshold
structmoveit__servo_1_1ServoParameters.html
a0818e9e72aaa8acaf0605e2b7e98ecd9
double
incoming_command_timeout
structmoveit__servo_1_1ServoParameters.html
a40838c22c2dcaa9c52a899168c266b9d
std::string
joint_command_in_topic
structmoveit__servo_1_1ServoParameters.html
aa607e8c663c741d96fda8da4957d663c
double
joint_limit_margin
structmoveit__servo_1_1ServoParameters.html
a082981d12d730d4cd2179cc8f4ed211b
double
joint_scale
structmoveit__servo_1_1ServoParameters.html
a13372d155385e76ca623fb71ce117fc4
std::string
joint_topic
structmoveit__servo_1_1ServoParameters.html
a66fd90fa698bdbf109656f08f0b75bce
double
linear_scale
structmoveit__servo_1_1ServoParameters.html
a5507c715b0508176e999726274eee7ad
bool
low_latency_mode
structmoveit__servo_1_1ServoParameters.html
a7106b982c152729968db12c8068be957
double
low_pass_filter_coeff
structmoveit__servo_1_1ServoParameters.html
aa79c6ff7670edb88ef59fb3070a7bf0d
double
lower_singularity_threshold
structmoveit__servo_1_1ServoParameters.html
a8ad6d9bd865f499c95edfa50a8369d6e
double
min_allowable_collision_distance
structmoveit__servo_1_1ServoParameters.html
a8a5bff3489d96ed568c9051fef6587f9
std::string
move_group_name
structmoveit__servo_1_1ServoParameters.html
a6b624be342134ab0fa7a1410a7211fde
int
num_outgoing_halt_msgs_to_publish
structmoveit__servo_1_1ServoParameters.html
a1ae6c1cb59975d498c492d857b8e1ee0
std::string
planning_frame
structmoveit__servo_1_1ServoParameters.html
aef42f5881b448ed61e88e0a45dccb7bc
bool
publish_joint_accelerations
structmoveit__servo_1_1ServoParameters.html
ad70a0c20881c46541cb1a821835fecb7
bool
publish_joint_positions
structmoveit__servo_1_1ServoParameters.html
aaf532033803cde8b36c04824fe00875f
bool
publish_joint_velocities
structmoveit__servo_1_1ServoParameters.html
a347f87d4439dcc15331153f06b27b776
double
publish_period
structmoveit__servo_1_1ServoParameters.html
aa8d4509cf8184d79ec0992a87a44b9b2
std::string
robot_link_command_frame
structmoveit__servo_1_1ServoParameters.html
ae16ea27ef01fc1cebac82cd4f0904229
double
rotational_scale
structmoveit__servo_1_1ServoParameters.html
ae1a69922a8b20f20eb33e41f2e934ec1
double
scene_collision_proximity_threshold
structmoveit__servo_1_1ServoParameters.html
a487efeb53fe51903afb4759630144e6e
double
self_collision_proximity_threshold
structmoveit__servo_1_1ServoParameters.html
a2954f5929f8f3e02983b3047eb479c0e
std::string
status_topic
structmoveit__servo_1_1ServoParameters.html
a1ee1ef66c4ed5f0292d72f884e541996
bool
use_gazebo
structmoveit__servo_1_1ServoParameters.html
a91d58377defa4883e1a3252cb3834b5b
moveit_servo::SpaceNavToTwist
classmoveit__servo_1_1SpaceNavToTwist.html
SpaceNavToTwist
classmoveit__servo_1_1SpaceNavToTwist.html
af9521b7abaa1a45497e9d99c8031dd45
()
void
joyCallback
classmoveit__servo_1_1SpaceNavToTwist.html
a447005cdb74bf64e1ab32b5c14988c40
(const sensor_msgs::Joy::ConstPtr &msg)
ros::Publisher
joint_delta_pub_
classmoveit__servo_1_1SpaceNavToTwist.html
a2d3e3e51e2aad60279804a9114051899
ros::Subscriber
joy_sub_
classmoveit__servo_1_1SpaceNavToTwist.html
a1987f2394f12c9251e3d7826a94c868b
ros::NodeHandle
n_
classmoveit__servo_1_1SpaceNavToTwist.html
a1b7d954e981c6358342bc4f6e2c67415
ros::AsyncSpinner
spinner_
classmoveit__servo_1_1SpaceNavToTwist.html
ab217829b06802e760ca06b62a1476b90
ros::Publisher
twist_pub_
classmoveit__servo_1_1SpaceNavToTwist.html
a295d532e25ea89fe4abf1eebd382124b
StatusMonitor
classStatusMonitor.html
StatusMonitor
classStatusMonitor.html
ae61ab1f6ab5e4f200cea01c7c5656cb9
(ros::NodeHandle &nh, const std::string &topic)
StatusMonitor
classStatusMonitor.html
ae61ab1f6ab5e4f200cea01c7c5656cb9
(ros::NodeHandle &nh, const std::string &topic)
void
statusCB
classStatusMonitor.html
a1067e3ca6c175a1c4ad67091ed49fae7
(const std_msgs::Int8ConstPtr &msg)
void
statusCB
classStatusMonitor.html
a1067e3ca6c175a1c4ad67091ed49fae7
(const std_msgs::Int8ConstPtr &msg)
moveit_servo::StatusCode
status_
classStatusMonitor.html
a99eb74fb014553a94d4039b4bc4d2891
ros::Subscriber
sub_
classStatusMonitor.html
a5523d5ac5a7799cebbcd1b3e7b8748b7
moveit
namespacemoveit.html
moveit::util
moveit::util
namespacemoveit_1_1util.html
boost::shared_ptr< T >
make_shared_from_pool
namespacemoveit_1_1util.html
a53c45b18a349d3a6296ea208b2383f2f
()
moveit_servo
namespacemoveit__servo.html
moveit_servo::CollisionCheck
moveit_servo::LowPassFilter
moveit_servo::PIDConfig
moveit_servo::PoseTracking
moveit_servo::PoseTrackingFixture
moveit_servo::Servo
moveit_servo::ServoCalcs
moveit_servo::ServoFixture
moveit_servo::ServoParameters
moveit_servo::SpaceNavToTwist
std::shared_ptr< PoseTracking >
PoseTrackingPtr
namespacemoveit__servo.html
a5beddf2504c922f63942ca6bff5bef3a
std::shared_ptr< Servo >
ServoPtr
namespacemoveit__servo.html
acb3ea7ccdadbae2b565f76ab34a16c19
CollisionCheckType
namespacemoveit__servo.html
a0f88f74045a858c60249d37ecd131701
K_THRESHOLD_DISTANCE
namespacemoveit__servo.html
a0f88f74045a858c60249d37ecd131701a48487c1f0ad8c7662586f05648e3abd3
K_STOP_DISTANCE
namespacemoveit__servo.html
a0f88f74045a858c60249d37ecd131701a3e7bcbbb451928b98b1f02eeef03f03f
PoseTrackingStatusCode
namespacemoveit__servo.html
a72baa5ed9c5fc60a76a9cddfce6b5548
INVALID
SUCCESS
NO_RECENT_TARGET_POSE
NO_RECENT_END_EFFECTOR_POSE
STOP_REQUESTED
StatusCode
namespacemoveit__servo.html
a645be72fe1553806404002b7cb52b43f
INVALID
NO_WARNING
DECELERATE_FOR_SINGULARITY
HALT_FOR_SINGULARITY
DECELERATE_FOR_COLLISION
HALT_FOR_COLLISION
JOINT_BOUND
const std::unordered_map< PoseTrackingStatusCode, std::string >
POSE_TRACKING_STATUS_CODE_MAP
namespacemoveit__servo.html
a10063149c6b08a77854ceafff0b68e14
({ { PoseTrackingStatusCode::INVALID, "Invalid" }, { PoseTrackingStatusCode::SUCCESS, "Success" }, { PoseTrackingStatusCode::NO_RECENT_TARGET_POSE, "No recent target pose" }, { PoseTrackingStatusCode::NO_RECENT_END_EFFECTOR_POSE, "No recent end effector pose" }, { PoseTrackingStatusCode::STOP_REQUESTED, "Stop requested" } })
const std::unordered_map< StatusCode, std::string >
SERVO_STATUS_CODE_MAP
namespacemoveit__servo.html
ad7fbffcbbd4f9cea09e63e0a1c81c624
({ { StatusCode::INVALID, "Invalid" }, { StatusCode::NO_WARNING, "No warnings" }, { StatusCode::DECELERATE_FOR_SINGULARITY, "Close to a singularity, decelerating" }, { StatusCode::HALT_FOR_SINGULARITY, "Very close to a singularity, emergency stop" }, { StatusCode::DECELERATE_FOR_COLLISION, "Close to a collision, decelerating" }, { StatusCode::HALT_FOR_COLLISION, "Collision detected, emergency stop" }, { StatusCode::JOINT_BOUND, "Close to a joint bound (position or velocity), halting" } })
TEST_F
namespacemoveit__servo.html
a8edf9cfa55723e9959c43228f5cb7f14
(PoseTrackingFixture, OutgoingMsgTest)
TEST_F
namespacemoveit__servo.html
ab63a939d35dd408a653a267075df04a7
(ServoFixture, EnforceVelLimitsTest)
TEST_F
namespacemoveit__servo.html
a564db9da62d560ec1f13099e82c8e6a0
(ServoFixture, JointVelocityEnforcementTest)
TEST_F
namespacemoveit__servo.html
a515a60c03984fa0b9117f530acf23970
(ServoFixture, SendJointServoTest)
TEST_F
namespacemoveit__servo.html
ac23c005d46e36b6782e787628a1407fa
(ServoFixture, SendTwistStampedTest)
TEST_F
namespacemoveit__servo.html
a0c32ca5e9d3bb1633486c8aaad0202c3
(ServoFixture, StartStopTest)
static const int
NUM_SPINNERS
namespacemoveit__servo.html
a2dc0e7b368bd40dea30fd8385f02b7ac
static const int
QUEUE_LENGTH
namespacemoveit__servo.html
ae59541739c8b7d8d3d3993f18e3f188f
constexpr size_t
ROS_QUEUE_SIZE
namespacemoveit__servo.html
a9a621d10395f1b42feb05ea21ba46448