#include <pose_tracking.h>

Public Member Functions
	PoseTracking (const rclcpp::Node::SharedPtr &node, const ServoParameters::SharedConstPtr &servo_parameters, const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor)
	Constructor. Loads ROS parameters under the given namespace. More...

PoseTrackingStatusCode	moveToPose (const Eigen::Vector3d &positional_tolerance, const double angular_tolerance, const double target_pose_timeout)

void	stopMotion ()
	A method for a different thread to stop motion and return early from control loop. More...

void	updatePIDConfig (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)
	Change PID parameters. Motion is stopped before the update. More...

void	getPIDErrors (double &x_error, double &y_error, double &z_error, double &orientation_error)

bool	getCommandFrameTransform (geometry_msgs::msg::TransformStamped &transform)

void	resetTargetPose ()
	Re-initialize the target pose to an empty message. Can be used to reset motion between waypoints. More...

Public Attributes
std::unique_ptr< moveit_servo::Servo >	servo_

Detailed Description

Class PoseTracking - subscribe to a target pose. Servo toward the target pose.

Definition at line 86 of file pose_tracking.h.

Constructor & Destructor Documentation

◆ PoseTracking()

moveit_servo::PoseTracking::PoseTracking	(	const rclcpp::Node::SharedPtr &	node,
		const ServoParameters::SharedConstPtr &	servo_parameters,
		const planning_scene_monitor::PlanningSceneMonitorPtr &	planning_scene_monitor
	)

Constructor. Loads ROS parameters under the given namespace.

Definition at line 75 of file pose_tracking.cpp.

Member Function Documentation

◆ getCommandFrameTransform()

bool moveit_servo::PoseTracking::getCommandFrameTransform ( geometry_msgs::msg::TransformStamped & transform )

Get the End Effector link transform. The transform from the MoveIt planning frame to EE link

Parameters

transform the transform that will be calculated

Returns: true if a valid transform was available

Definition at line 405 of file pose_tracking.cpp.

◆ getPIDErrors()

void moveit_servo::PoseTracking::getPIDErrors	(	double &	x_error,
		double &	y_error,
		double &	z_error,
		double &	orientation_error
	)

Definition at line 389 of file pose_tracking.cpp.

◆ moveToPose()

PoseTrackingStatusCode moveit_servo::PoseTracking::moveToPose	(	const Eigen::Vector3d &	positional_tolerance,
		const double	angular_tolerance,
		const double	target_pose_timeout
	)

Definition at line 109 of file pose_tracking.cpp.

◆ resetTargetPose()

void moveit_servo::PoseTracking::resetTargetPose ( )

Re-initialize the target pose to an empty message. Can be used to reset motion between waypoints.

Definition at line 398 of file pose_tracking.cpp.

◆ stopMotion()

void moveit_servo::PoseTracking::stopMotion ( )

A method for a different thread to stop motion and return early from control loop.

Definition at line 329 of file pose_tracking.cpp.

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◆ updatePIDConfig()

void moveit_servo::PoseTracking::updatePIDConfig	(	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
	)

Change PID parameters. Motion is stopped before the update.

Definition at line 356 of file pose_tracking.cpp.

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Member Data Documentation

◆ servo_

std::unique_ptr<moveit_servo::Servo> moveit_servo::PoseTracking::servo_

Definition at line 121 of file pose_tracking.h.

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

moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h
moveit_ros/moveit_servo/src/pose_tracking.cpp

Public Member Functions

Public Attributes