rapid::pr2::Torso Class Reference

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

#include <torso.h>

Public Member Functions
	Torso (const rapid::JointStateReader &js_reader)
	The maximum torso height. More...
bool	StartMoving (double height)
	Starts moving the torso. More...
bool	IsDone () const
	Returns true if the torso is done moving. More...
void	Cancel ()
	Stops moving the torso. More...

Static Public Attributes
static const double	kMinHeight = 0
static const double	kMaxHeight = 0.31
	The minimum torso height. More...

Detailed Description

High-level interface for the PR2's torso.

Example:

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

rapid::JointStateReader js_reader;
js_reader.Start();
rapid::pr2::Torso torso(js_reader);
torso.StartMoving(0.31);
while (ros::ok() && !torso.IsDone()) {
  ros::spinOnce();
}

Definition at line 25 of file torso.h.

Constructor & Destructor Documentation

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

explicit

The maximum torso height.

Constructor.

Member Function Documentation

void rapid::pr2::Torso::Cancel

(

)

Stops moving the torso.

bool rapid::pr2::Torso::IsDone

(

)

const

Returns true if the torso is done moving.

bool rapid::pr2::Torso::StartMoving

(

double

height

)

Starts moving the torso.

The torso will move at its maximum velocity (1.3 cm/s) towards the goal. If this method fails to connect to the torso action server or read the current torso joint value, it will return false.

Parameters

[in]

height

The height move to. The value will be clamped between Torso::kMinHeight and Torso::kMaxHeight.

Returns

true if torso goal was sent successfully, false otherwise.

Member Data Documentation

const double rapid::pr2::Torso::kMaxHeight = 0.31

static

The minimum torso height.

Definition at line 28 of file torso.h.

const double rapid::pr2::Torso::kMinHeight = 0

static

Definition at line 27 of file torso.h.

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

• rapid_pr2/include/rapid_pr2/torso.h