/home/laradmin/lar/hmi/phantom_dual/src/phantom_dual.cpp File Reference

#include <iostream>
#include <cstdio>
#include <cstdlib>
#include <string>
#include <cassert>
#include <cmath>
#include <HD/hd.h>
#include <HDU/hduVector.h>
#include <HDU/hduMatrix.h>
#include <HDU/hduError.h>
#include <ros/ros.h>
#include <std_msgs/Float64.h>
#include <sensor_msgs/JointState.h>
#include <vrep_common/JointSetStateData.h>
#include <vrep_common/ForceSensorData.h>
#include <vrep_common/ObjectGroupData.h>
#include <vrep_common/simRosGetObjectHandle.h>
#include <phantom_dual/conio.h>

Include dependency graph for phantom_dual.cpp:

Go to the source code of this file.

Classes
struct	omni_state
Functions
void	jointsCallback (const sensor_msgs::JointState &msg)
int	main (int argc, char **argv)
void	objectHandles ()
void	sensorsCallback (const vrep_common::ObjectGroupData &msg)
HDCallbackCode HDCALLBACK	ServoSchedulerCallback (void *pUserData)
void	setJointValue ()
Variables
HDdouble	base_torque [3]
ros::Publisher	command_joints_position_pub
HDSchedulerHandle	gCallbackHandle = HD_INVALID_HANDLE
vrep_common::JointSetStateData	joint_target
int	left_joint1Handle
int	left_joint2Handle
int	left_joint3Handle
int	left_joint4Handle
int	left_joint5Handle
int	left_joint6Handle
int	left_sensor1Handle
int	left_sensor2Handle
int	left_sensor3Handle
int	left_sensor4Handle
vrep_common::simRosGetObjectHandle	object_handles
ros::ServiceClient	object_handles_srv
omni_state	omni
int	right_joint1Handle
int	right_joint2Handle
int	right_joint3Handle
int	right_joint4Handle
int	right_joint5Handle
int	right_joint6Handle
int	right_sensor1Handle

---

Function Documentation

void jointsCallback

(

const sensor_msgs::JointState &

msg

)

Definition at line 247 of file phantom_dual.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 284 of file phantom_dual.cpp.

void objectHandles

(

)

Definition at line 87 of file phantom_dual.cpp.

void sensorsCallback

(

const vrep_common::ObjectGroupData &

msg

)

Definition at line 271 of file phantom_dual.cpp.

HDCallbackCode HDCALLBACK ServoSchedulerCallback

(

void *

pUserData

)

Definition at line 63 of file phantom_dual.cpp.

void setJointValue

(

)

Definition at line 202 of file phantom_dual.cpp.

---

Variable Documentation

HDdouble base_torque[3]

Definition at line 60 of file phantom_dual.cpp.

ros::Publisher command_joints_position_pub

Definition at line 37 of file phantom_dual.cpp.

HDSchedulerHandle gCallbackHandle = HD_INVALID_HANDLE

Definition at line 58 of file phantom_dual.cpp.

vrep_common::JointSetStateData joint_target

Definition at line 33 of file phantom_dual.cpp.

int left_joint1Handle

Definition at line 39 of file phantom_dual.cpp.

int left_joint2Handle

Definition at line 40 of file phantom_dual.cpp.

int left_joint3Handle

Definition at line 41 of file phantom_dual.cpp.

int left_joint4Handle

Definition at line 42 of file phantom_dual.cpp.

int left_joint5Handle

Definition at line 43 of file phantom_dual.cpp.

int left_joint6Handle

Definition at line 44 of file phantom_dual.cpp.

int left_sensor1Handle

Definition at line 52 of file phantom_dual.cpp.

int left_sensor2Handle

Definition at line 53 of file phantom_dual.cpp.

int left_sensor3Handle

Definition at line 54 of file phantom_dual.cpp.

int left_sensor4Handle

Definition at line 55 of file phantom_dual.cpp.

vrep_common::simRosGetObjectHandle object_handles

Definition at line 34 of file phantom_dual.cpp.

ros::ServiceClient object_handles_srv

Definition at line 36 of file phantom_dual.cpp.

omni_state omni

Definition at line 31 of file phantom_dual.cpp.

int right_joint1Handle

Definition at line 45 of file phantom_dual.cpp.

int right_joint2Handle

Definition at line 46 of file phantom_dual.cpp.

int right_joint3Handle

Definition at line 47 of file phantom_dual.cpp.

int right_joint4Handle

Definition at line 48 of file phantom_dual.cpp.

int right_joint5Handle

Definition at line 49 of file phantom_dual.cpp.

int right_joint6Handle

Definition at line 50 of file phantom_dual.cpp.

int right_sensor1Handle

Definition at line 56 of file phantom_dual.cpp.