moveit_servo::Servo Class Reference

#include <servo.h>

Public Member Functions
	Servo (const rclcpp::Node::SharedPtr &node, const ServoParameters::SharedConstPtr &parameters, const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor)
	~Servo ()
void	start ()
	start servo node More...
void	setPaused (bool paused)
	Pause or unpause processing servo commands while keeping the timers alive. More...
bool	getCommandFrameTransform (Eigen::Isometry3d &transform)
bool	getCommandFrameTransform (geometry_msgs::msg::TransformStamped &transform)
bool	getEEFrameTransform (Eigen::Isometry3d &transform)
bool	getEEFrameTransform (geometry_msgs::msg::TransformStamped &transform)
const ServoParameters::SharedConstPtr &	getParameters () const
	Get the parameters used by servo node. More...

Friends
class	ServoFixture

Detailed Description

Class Servo - Jacobian based robot control with collision avoidance.

Definition at line 54 of file servo.h.

Constructor & Destructor Documentation

Servo()

moveit_servo::Servo::Servo	(	const rclcpp::Node::SharedPtr &	node,
		const ServoParameters::SharedConstPtr &	parameters,
		const planning_scene_monitor::PlanningSceneMonitorPtr &	planning_scene_monitor
	)

Definition at line 51 of file servo.cpp.

~Servo()

moveit_servo::Servo::~Servo

(

)

Definition at line 79 of file servo.cpp.

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Member Function Documentation

getCommandFrameTransform() [1/2]

bool moveit_servo::Servo::getCommandFrameTransform

(

Eigen::Isometry3d &

transform

)

Get the MoveIt planning link transform. The transform from the MoveIt planning frame to robot_link_command_frame

Parameters

transform

the transform that will be calculated

Returns

true if a valid transform was available

Definition at line 90 of file servo.cpp.

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getCommandFrameTransform() [2/2]

bool moveit_servo::Servo::getCommandFrameTransform

(

geometry_msgs::msg::TransformStamped &

transform

)

Definition at line 95 of file servo.cpp.

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getEEFrameTransform() [1/2]

bool moveit_servo::Servo::getEEFrameTransform

(

Eigen::Isometry3d &

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 100 of file servo.cpp.

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getEEFrameTransform() [2/2]

bool moveit_servo::Servo::getEEFrameTransform

(

geometry_msgs::msg::TransformStamped &

transform

)

Definition at line 105 of file servo.cpp.

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getParameters()

const ServoParameters::SharedConstPtr & moveit_servo::Servo::getParameters

(

)

const

Get the parameters used by servo node.

Definition at line 110 of file servo.cpp.

setPaused()

void moveit_servo::Servo::setPaused

(

bool

paused

)

Pause or unpause processing servo commands while keeping the timers alive.

Definition at line 84 of file servo.cpp.

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start()

void moveit_servo::Servo::start

(

)

start servo node

Definition at line 60 of file servo.cpp.

Friends And Related Function Documentation

ServoFixture

friend class ServoFixture

friend

Definition at line 92 of file servo.h.

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

• moveit_ros/moveit_servo/include/moveit_servo/servo.h
• moveit_ros/moveit_servo/src/servo.cpp