C++ API Reference

Class Hierarchy

• • Namespace cartesian_motion_base
    • Struct MotionState
    • Struct RobotConfig
    • Struct RobotHandles
    • Struct ROSHandles
    • Struct SystemState
    • Class CartesianMotionBase
    • Template Class MotionClient
    • Class MotionTask
    • Enum TaskState

File Hierarchy

• • Directory cartesian_motion_base
    • Directory include
      • Directory cartesian_motion_base
        • File cartesian_motion_base.hpp
        • File cartesian_motion_tasks.hpp
        • File cartesian_motion_type.hpp

Full API

Namespaces

• Namespace cartesian_motion_base
  • Classes
  • Enums
  • Functions

• Namespace rclcpp

Classes and Structs

• Struct MotionState
  • Struct Documentation
    • cartesian_motion_base::MotionState
      • current_pose
      • target_pose
      • target_monitor
      • start_pose
      • current_wrench
      • target_wrench
      • start_wrench

• Struct RobotConfig
  • Struct Documentation
    • cartesian_motion_base::RobotConfig
      • name
      • pose_sub
      • cmd_monitor_sub
      • wrench_sub
      • wrench_pub
      • cmd_pub
      • joint_service

• Struct RobotHandles
  • Struct Documentation
    • cartesian_motion_base::RobotHandles
      • motion_state
      • ros_handles
      • initialized

• Struct ROSHandles
  • Struct Documentation
    • cartesian_motion_base::ROSHandles
      • current_pose_sub
      • target_monitor_sub
      • wrench_sub
      • target_pose_pub
      • target_wrench_pub
      • joint_move_client

• Struct SystemState
  • Struct Documentation
    • cartesian_motion_base::SystemState
      • task_num
      • start_time
      • current_time

• Class CartesianMotionBase
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • cartesian_motion_base::CartesianMotionBase
      • CartesianMotionBase()
      • ~CartesianMotionBase()
      • start()
      • active()
      • deactivate()
      • on_init()
      • tasks_init()
      • intepolation()
      • intepolation_wrench()
      • get_robot_names()
      • get_current_pose()
      • get_current_wrench()
      • get_start_pose()
      • get_start_wrench()
      • get_target_monitor()
      • get_system_state()
      • set_target_pose()
      • set_target_wrench()
      • move()
      • move_wrench()
      • sleep()
      • joint_move()
      • task_pushback()
      • task_execute()
      • set_task_finished()
      • goto_specific_task()
      • goto_init_task()
      • goto_last_task()
      • check_init()
      • system_state_
      • next_task_offset_
      • control_loop_thread_
      • my_clock_
      • tasks_vector_
      • active_

• Template Class MotionClient
  • Class Documentation
    • cartesian_motion_base::MotionClient
      • RequestSharedPtr
      • ResponseSharedPtr
      • SharedFuture
      • call()
      • get_service_called()
      • get_service_finished()
      • reset()
      • get_client()

• Class MotionTask
  • Class Documentation
    • cartesian_motion_base::MotionTask
      • MotionTask()
      • MotionTask()
      • init()
      • execute()
      • get_name()
      • get_state()
      • set_state()

Enums

• Enum TaskState
  • Enum Documentation
    • TaskState
      • INIT
      • EXECUTE
      • FINISH

Functions

• Function cartesian_motion_base::get_default_robot_configs
  • Function Documentation
    • get_default_robot_configs()

• Function cartesian_motion_base::toEigen(const geometry_msgs::msg::Vector3&)
  • Function Documentation
    • toEigen()

• Function cartesian_motion_base::toEigen(const geometry_msgs::msg::Point&)
  • Function Documentation
    • toEigen()

• Function cartesian_motion_base::toMsgPoint
  • Function Documentation
    • toMsgPoint()

• Function cartesian_motion_base::toMsgVec
  • Function Documentation
    • toMsgVec()

Defines

• Define JointMap
  • Define Documentation
    • JointMap

• Define PoseMap
  • Define Documentation
    • PoseMap

• Define TaskPtr
  • Define Documentation
    • TaskPtr

• Define TaskPtrConst
  • Define Documentation
    • TaskPtrConst

• Define WrenchMap
  • Define Documentation
    • WrenchMap