sas::RobotKinematicsServer Class Reference

Server for robot kinematics topics. More...

#include <sas_robot_kinematics_server.hpp>

Inheritance diagram for sas::RobotKinematicsServer:

Public Member Functions
	RobotKinematicsServer (const RobotKinematicsServer &)=delete
	RobotKinematicsServer (const std::shared_ptr< Node > &node, const std::string &topic_prefix)
	Construct a RobotKinematicsServer.
DQ	get_desired_pose () const
	Get the most recently received desired pose.
double	get_desired_interpolator_speed () const
	Get the most recently received desired interpolator speed.
bool	is_enabled () const
	Check whether the server is enabled (publishers/subscribers active).
void	send_pose (const DQ &pose) const
	Publish the current robot pose.
void	send_reference_frame (const DQ &reference_frame) const
	Publish the robot's reference frame pose.

Protected Member Functions
void	_callback_desired_pose (const geometry_msgs::msg::PoseStamped &msg)
void	_callback_desired_interpolator_speed (const sas_msgs::msg::Float64 &msg)

Protected Attributes
std::shared_ptr< Node >	node_
std::atomic_bool	enabled_
const std::string	topic_prefix_
Publisher< geometry_msgs::msg::PoseStamped >::SharedPtr	publisher_pose_
Publisher< geometry_msgs::msg::PoseStamped >::SharedPtr	publisher_reference_frame_
Subscription< geometry_msgs::msg::PoseStamped >::SharedPtr	subscriber_desired_pose_
DQ	desired_pose_
Subscription< sas_msgs::msg::Float64 >::SharedPtr	subscriber_desired_interpolator_speed_
double	desired_interpolator_speed_

Detailed Description

Server for robot kinematics topics.

Publishes the robot's current pose and reference frame, and subscribes to desired poses and desired interpolator speeds. The server stores the most recently received desired values and exposes accessors for them.

Constructor & Destructor Documentation

RobotKinematicsServer()

sas::RobotKinematicsServer::RobotKinematicsServer	(	const std::shared_ptr< Node > &	node,
		const std::string &	topic_prefix )

Construct a RobotKinematicsServer.

Parameters

node	Shared pointer to the ROS2 node used for creating publishers/subscribers.
topic_prefix	Topic name prefix used for subscriptions and publications.

Member Function Documentation

get_desired_interpolator_speed()

double sas::RobotKinematicsServer::get_desired_interpolator_speed

(

)

const

Get the most recently received desired interpolator speed.

Returns

Desired interpolator speed as a double.

get_desired_pose()

DQ sas::RobotKinematicsServer::get_desired_pose

(

)

const

Get the most recently received desired pose.

Returns

Desired pose as a dual quaternion (DQ).

is_enabled()

bool sas::RobotKinematicsServer::is_enabled

(

)

const

Check whether the server is enabled (publishers/subscribers active).

Returns

true if enabled, false otherwise.

send_pose()

void sas::RobotKinematicsServer::send_pose

(

const DQ &

pose

)

const

Publish the current robot pose.

Parameters

pose	Pose to publish (as DQ).

send_reference_frame()

void sas::RobotKinematicsServer::send_reference_frame

(

const DQ &

reference_frame

)

const

Publish the robot's reference frame pose.

Parameters

reference_frame

Reference frame to publish (as DQ).

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

• src/sas_robot_kinematics/include/sas_robot_kinematics/sas_robot_kinematics_server.hpp
• src/sas_robot_kinematics/src/sas_robot_kinematics_server.cpp