rapid::pr2::Head Class Reference

High-level interface for the PR2's head. More...

#include <head.h>

Public Member Functions
	Head (const rapid::JointStateReader &js_reader)
	The maximum tilt angle, in radians. More...
bool	StartPanTilt (const Radians &pan, const Radians &tilt)
	Starts moving the head to the given pan/tilt angle. More...
bool	IsDone () const
	Returns true if the head is done moving. More...
void	Cancel ()
	Stops moving the head. More...

Static Public Attributes
static const double	kMinPanDegrees = -168
static const double	kMaxPanDegrees = 168
	The minimum pan angle, in degrees. More...
static const double	kMinTiltDegrees = -30
	The maximum pan angle, in degrees. More...
static const double	kMaxTiltDegrees = 60
	The minimum tilt angle, in degrees. More...
static const double	kMinPanRadians = -168 * M_PI / 180
	The maximum tilt angle, in degrees. More...
static const double	kMaxPanRadians = 168 * M_PI / 180
	The minimum pan angle, in radians. More...
static const double	kMinTiltRadians = -30 * M_PI / 180
	The maximum pan angle, in radians. More...
static const double	kMaxTiltRadians = 60 * M_PI / 180
	The minimum tilt angle, in radians. More...

Detailed Description

High-level interface for the PR2's head.

Example:

#include "rapid_robot/joint_state_reader.h"
#include "rapid_pr2/head.h"

rapid::JointStateReader js_reader;
js_reader.Start();
rapid::pr2::Head head(js_reader);
head.StartPanTilt(rapid::Degrees(0), rapid::Degrees(45));
while (ros::ok() && !head.IsDone()) {
  ros::spinOnce();
}

Definition at line 26 of file head.h.

Constructor & Destructor Documentation

rapid::pr2::Head::Head ( const rapid::JointStateReader &  js_reader )

explicit

The maximum tilt angle, in radians.

Constructor.

Member Function Documentation

void rapid::pr2::Head::Cancel

(

)

Stops moving the head.

bool rapid::pr2::Head::IsDone

(

)

const

Returns true if the head is done moving.

bool rapid::pr2::Head::StartPanTilt	(	const Radians &	pan,
		const Radians &	tilt
	)

Starts moving the head to the given pan/tilt angle.

The head will move at half the maximum velocity towards the goal. If this method fails to connect to the head action server or read the current head joint values, it will return false.

Parameters

[in]	pan	The pan angle, given as rapid::Degrees or rapid::Radians.
[in]	tilt	The tilt angle, given as rapid::Degrees or rapid::Radians.

Returns

true if head goal was sent successfully, false otherwise.

Member Data Documentation

const double rapid::pr2::Head::kMaxPanDegrees = 168

static

The minimum pan angle, in degrees.

Definition at line 29 of file head.h.

const double rapid::pr2::Head::kMaxPanRadians = 168 * M_PI / 180

static

The minimum pan angle, in radians.

Definition at line 33 of file head.h.

const double rapid::pr2::Head::kMaxTiltDegrees = 60

static

The minimum tilt angle, in degrees.

Definition at line 31 of file head.h.

const double rapid::pr2::Head::kMaxTiltRadians = 60 * M_PI / 180

static

The minimum tilt angle, in radians.

Definition at line 35 of file head.h.

const double rapid::pr2::Head::kMinPanDegrees = -168

static

Definition at line 28 of file head.h.

const double rapid::pr2::Head::kMinPanRadians = -168 * M_PI / 180

static

The maximum tilt angle, in degrees.

Definition at line 32 of file head.h.

const double rapid::pr2::Head::kMinTiltDegrees = -30

static

The maximum pan angle, in degrees.

Definition at line 30 of file head.h.

const double rapid::pr2::Head::kMinTiltRadians = -30 * M_PI / 180

static

The maximum pan angle, in radians.

Definition at line 34 of file head.h.

---

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

• rapid_pr2/include/rapid_pr2/head.h