<?xml version='1.0' encoding='ISO-8859-1' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>AmtecProtocolArm.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-scitos_metralabs/doc_stacks/2014-01-07_11-37-33.253018/scitos_metralabs/metralabs_ros/src/</path>
    <filename>AmtecProtocolArm_8h</filename>
    <includes id="RobotArm_8h" name="RobotArm.h" local="yes" imported="no">RobotArm.h</includes>
    <class kind="class">AmtecProtocolArm</class>
  </compound>
  <compound kind="file">
    <name>LWA3ArmUASHH.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-scitos_metralabs/doc_stacks/2014-01-07_11-37-33.253018/scitos_metralabs/metralabs_ros/src/</path>
    <filename>LWA3ArmUASHH_8h</filename>
    <includes id="AmtecProtocolArm_8h" name="AmtecProtocolArm.h" local="yes" imported="no">AmtecProtocolArm.h</includes>
    <class kind="class">LWA3ArmUASHH</class>
    <member kind="define">
      <type>#define</type>
      <name>GRIPPER_ID</name>
      <anchorfile>LWA3ArmUASHH_8h.html</anchorfile>
      <anchor>a614c3c3b65595b043a15f6a19c6ef83e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>PowerCubeArmUUISRC.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-scitos_metralabs/doc_stacks/2014-01-07_11-37-33.253018/scitos_metralabs/metralabs_ros/src/</path>
    <filename>PowerCubeArmUUISRC_8h</filename>
    <includes id="SchunkProtocolArm_8h" name="SchunkProtocolArm.h" local="yes" imported="no">SchunkProtocolArm.h</includes>
    <class kind="class">PowerCubeArmUUISRC</class>
    <member kind="define">
      <type>#define</type>
      <name>GRIPPER_ID</name>
      <anchorfile>PowerCubeArmUUISRC_8h.html</anchorfile>
      <anchor>a614c3c3b65595b043a15f6a19c6ef83e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>RobotArm.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-scitos_metralabs/doc_stacks/2014-01-07_11-37-33.253018/scitos_metralabs/metralabs_ros/src/</path>
    <filename>RobotArm_8h</filename>
    <class kind="class">RobotArm</class>
  </compound>
  <compound kind="file">
    <name>SchunkProtocolArm.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-scitos_metralabs/doc_stacks/2014-01-07_11-37-33.253018/scitos_metralabs/metralabs_ros/src/</path>
    <filename>SchunkProtocolArm_8h</filename>
    <includes id="RobotArm_8h" name="RobotArm.h" local="yes" imported="no">RobotArm.h</includes>
    <class kind="class">SchunkProtocolArm</class>
    <member kind="define">
      <type>#define</type>
      <name>DEG_TO_RAD</name>
      <anchorfile>SchunkProtocolArm_8h.html</anchorfile>
      <anchor>a970e9b5e6274fe88b90cbd9cc4f67999</anchor>
      <arglist>(d)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>RAD_TO_DEG</name>
      <anchorfile>SchunkProtocolArm_8h.html</anchorfile>
      <anchor>a584675c4c9c1083ca51760dd2e7b4176</anchor>
      <arglist>(r)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>SchunkServer.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-scitos_metralabs/doc_stacks/2014-01-07_11-37-33.253018/scitos_metralabs/metralabs_ros/src/</path>
    <filename>SchunkServer_8h</filename>
    <includes id="RobotArm_8h" name="RobotArm.h" local="yes" imported="no">RobotArm.h</includes>
    <includes id="AmtecProtocolArm_8h" name="AmtecProtocolArm.h" local="yes" imported="no">AmtecProtocolArm.h</includes>
    <includes id="SchunkProtocolArm_8h" name="SchunkProtocolArm.h" local="yes" imported="no">SchunkProtocolArm.h</includes>
    <includes id="LWA3ArmUASHH_8h" name="LWA3ArmUASHH.h" local="yes" imported="no">LWA3ArmUASHH.h</includes>
    <includes id="PowerCubeArmUUISRC_8h" name="PowerCubeArmUUISRC.h" local="yes" imported="no">PowerCubeArmUUISRC.h</includes>
    <class kind="class">SchunkServer</class>
    <class kind="class">TrajectoryExecuter</class>
    <member kind="define">
      <type>#define</type>
      <name>DEG_TO_RAD</name>
      <anchorfile>SchunkServer_8h.html</anchorfile>
      <anchor>a970e9b5e6274fe88b90cbd9cc4f67999</anchor>
      <arglist>(d)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>RAD_TO_DEG</name>
      <anchorfile>SchunkServer_8h.html</anchorfile>
      <anchor>a584675c4c9c1083ca51760dd2e7b4176</anchor>
      <arglist>(r)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>SIGN_TOLERANT_CUT</name>
      <anchorfile>SchunkServer_8h.html</anchorfile>
      <anchor>ac76ff9729816071b308f1313fab201d4</anchor>
      <arglist>(value, lim)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>SIGN_TOLERANT_MAX</name>
      <anchorfile>SchunkServer_8h.html</anchorfile>
      <anchor>a473bf5cf5fa820e4abf36a6eb702115d</anchor>
      <arglist>(value, def)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>SLOWEST_REASONABLE_JOINT_SPEED</name>
      <anchorfile>SchunkServer_8h.html</anchorfile>
      <anchor>a15edd251c2f63752eb42224dd5277892</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>TOO_SLOW</name>
      <anchorfile>SchunkServer_8h.html</anchorfile>
      <anchor>a517c69e4dc78069bbff4907eab65eaa5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ScitosBase.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-scitos_metralabs/doc_stacks/2014-01-07_11-37-33.253018/scitos_metralabs/metralabs_ros/src/</path>
    <filename>ScitosBase_8cpp</filename>
    <includes id="ScitosBase_8h" name="ScitosBase.h" local="yes" imported="no">ScitosBase.h</includes>
    <member kind="define">
      <type>#define</type>
      <name>BUMPER_CODE_LOCKED</name>
      <anchorfile>ScitosBase_8cpp.html</anchorfile>
      <anchor>a40786b67171459d36bdebf0910f8990c</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>BUMPER_CODE_PUSHED</name>
      <anchorfile>ScitosBase_8cpp.html</anchorfile>
      <anchor>a69032da1723e1c65aa50af142552512b</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>CHARGER_PLUGGED</name>
      <anchorfile>ScitosBase_8cpp.html</anchorfile>
      <anchor>ae1ebc5185b716323119af21cde01d9e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>MAKRO_GET_FEATURE</name>
      <anchorfile>ScitosBase_8cpp.html</anchorfile>
      <anchor>a0550d9a9c6db54afd6f704722a5c8de2</anchor>
      <arglist>(NAME)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>MAKRO_SET_FEATURE</name>
      <anchorfile>ScitosBase_8cpp.html</anchorfile>
      <anchor>a5cdec6daa9322d748a0d9a740c55a60c</anchor>
      <arglist>(NAME)</arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>VOLTAGE_ERROR_LEVEL</name>
      <anchorfile>ScitosBase_8cpp.html</anchorfile>
      <anchor>a1167db37030398b1c892abb92e5c3222</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>VOLTAGE_FULL_LEVEL</name>
      <anchorfile>ScitosBase_8cpp.html</anchorfile>
      <anchor>aa4030ab41d5df0a23e8c6ca9a52aee70</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>VOLTAGE_MID_LEVEL</name>
      <anchorfile>ScitosBase_8cpp.html</anchorfile>
      <anchor>a7e72a1319aa2df831bd6ea2142726ada</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>VOLTAGE_WARN_LEVEL</name>
      <anchorfile>ScitosBase_8cpp.html</anchorfile>
      <anchor>a05e0a3b5857f57e986dcddc830220532</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>ScitosBase::setFeature&lt; std::string &gt;</name>
      <anchorfile>ScitosBase_8cpp.html</anchorfile>
      <anchor>ad8a042745daa316545c432de992d6841</anchor>
      <arglist>(std::string name, std::string value)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ScitosBase.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-scitos_metralabs/doc_stacks/2014-01-07_11-37-33.253018/scitos_metralabs/metralabs_ros/src/</path>
    <filename>ScitosBase_8h</filename>
    <class kind="class">ScitosBase</class>
    <member kind="define">
      <type>#define</type>
      <name>FEATURE_SONAR</name>
      <anchorfile>ScitosBase_8h.html</anchorfile>
      <anchor>aff7343a0a0147a42cab4af8e379012f0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ScitosServer.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-scitos_metralabs/doc_stacks/2014-01-07_11-37-33.253018/scitos_metralabs/metralabs_ros/src/</path>
    <filename>ScitosServer_8cpp</filename>
    <includes id="ScitosBase_8h" name="ScitosBase.h" local="yes" imported="no">ScitosBase.h</includes>
    <includes id="SchunkServer_8h" name="SchunkServer.h" local="yes" imported="no">SchunkServer.h</includes>
    <member kind="define">
      <type>#define</type>
      <name>SCHUNK_NOT_AMTEC</name>
      <anchorfile>ScitosServer_8cpp.html</anchorfile>
      <anchor>a47d26d7b875306eb5f5b9de8acc32126</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>ScitosServer_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>robotArmThread</name>
      <anchorfile>ScitosServer_8cpp.html</anchorfile>
      <anchor>aac248998dcd4f120ae6060768a4c8e0a</anchor>
      <arglist>(ScitosBase &amp;scitos_base, ros::NodeHandle nh_schunk)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>AmtecProtocolArm</name>
    <filename>classAmtecProtocolArm.html</filename>
    <base>RobotArm</base>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>ackJoint</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>ae5021b6465cdcb039717edadc36ed3d5</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>AmtecProtocolArm</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>ab6735eddbf6c026d77797d30be252ec7</anchor>
      <arglist>(IDType id_offset=20)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>emergencyStopJoint</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>ab6cb21a40efa185d0aabf9bbe5d5f3e8</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function">
      <type>const AmtecManipulator &amp;</type>
      <name>getManipulator</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>ab9d47cf7b2be92ec1f714ea09ec568b5</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual float</type>
      <name>getMaxCurrent</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>ae8ecdcbdd28b10919b4db6d283576b4f</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>getModuleStatus</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>a05edd5214e5ff0f4f8ec50d2029f592d</anchor>
      <arglist>(int module_id, uint8_t &amp;referenced, uint8_t &amp;moving, uint8_t &amp;progMode, uint8_t &amp;warning, uint8_t &amp;error, uint8_t &amp;brake, uint8_t &amp;moveEnd, uint8_t &amp;posReached, uint8_t &amp;errorCode, float &amp;current)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual float</type>
      <name>getPosition</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>aa718d18db53a802b1e9da81498722826</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual float</type>
      <name>getVelocity</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>ae058be175f3723d629948093f6e3db08</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>init</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>a9a4d220ad246909a0578f0c0bb118417</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>movePosition</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>a8526432a55534edc7fcb2ccabe8d7145</anchor>
      <arglist>(IDType id, float position)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>movePositionDuration</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>a02db52d16977bab1556562e3bbfe2f97</anchor>
      <arglist>(IDType id, float position, uint16_t msecs)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>moveVelocity</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>a1a1b9f6f23fc3e5d0e6a54d406e379fa</anchor>
      <arglist>(IDType id, float velocity)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>normalStopJoint</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>ae501d231d586bea109558f0e72b4c4bc</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>refJoint</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>a1d52dcc57a8d0af8ddf36c06f37e6283</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setAcceleration</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>aaa6209f0ca71fbd0a79ac13fe3bc9be9</anchor>
      <arglist>(IDType id, float acceleration)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setCurrent</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>a57e809abc54f7b0ee9c91e152d85abd5</anchor>
      <arglist>(IDType id, float current)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setVelocity</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>ae17a07f1fd8ad590edd3cf9c2afa9118</anchor>
      <arglist>(IDType id, float velocity)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>AmtecManipulator</type>
      <name>manipulator_</name>
      <anchorfile>classAmtecProtocolArm.html</anchorfile>
      <anchor>a8056f6386ec65c8f65f0f556f87c13bc</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>LWA3ArmUASHH</name>
    <filename>classLWA3ArmUASHH.html</filename>
    <base>AmtecProtocolArm</base>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>ackJoint</name>
      <anchorfile>classLWA3ArmUASHH.html</anchorfile>
      <anchor>a3e9436c739cd4a67299a622c2bebe3c9</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>init</name>
      <anchorfile>classLWA3ArmUASHH.html</anchorfile>
      <anchor>a165234d906432cdd5fd1524b7ef50517</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>refJoint</name>
      <anchorfile>classLWA3ArmUASHH.html</anchorfile>
      <anchor>a4607764705097732925d8e276dc6cc9f</anchor>
      <arglist>(IDType id)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>PowerCubeArmUUISRC</name>
    <filename>classPowerCubeArmUUISRC.html</filename>
    <base>SchunkProtocolArm</base>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>ackJoint</name>
      <anchorfile>classPowerCubeArmUUISRC.html</anchorfile>
      <anchor>a86700fc60a81cef45cc292797019d825</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>emergencyStopJoint</name>
      <anchorfile>classPowerCubeArmUUISRC.html</anchorfile>
      <anchor>ae25ce1a48d00db6124e8ddabe9ce1907</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>init</name>
      <anchorfile>classPowerCubeArmUUISRC.html</anchorfile>
      <anchor>af900ed2267887653eed5fa70c52ec31d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>refJoint</name>
      <anchorfile>classPowerCubeArmUUISRC.html</anchorfile>
      <anchor>a75c931c12177bf387f344716de0ee155</anchor>
      <arglist>(IDType id)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>RobotArm</name>
    <filename>classRobotArm.html</filename>
    <base protection="private">boost::noncopyable</base>
    <member kind="typedef">
      <type>uint8_t</type>
      <name>IDType</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a5d2c6802484b9559d3fd1224fbcbf0f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>ackAll</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>af336bb044ced5a5cd208ff559d1651c9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>ackJoint</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a33d7356b83308247ab1d9ab21d69f401</anchor>
      <arglist>(IDType id)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>emergencyStopAll</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a259c9bb5c72db83a8b6d3cb50b21784a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>emergencyStopJoint</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a6825c913881183b61f619cd95a41e700</anchor>
      <arglist>(IDType id)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual float</type>
      <name>getMaxCurrent</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a46903afd1ee23faa1c29982a39a590d1</anchor>
      <arglist>(IDType id)=0</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>getModulesCount</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>aa4305e23367c6b7c55e489142fe421e4</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>getModuleStatus</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>ab0b97634eb29339b51887bfd44da5c8a</anchor>
      <arglist>(int module_id, uint8_t &amp;referenced, uint8_t &amp;moving, uint8_t &amp;progMode, uint8_t &amp;warning, uint8_t &amp;error, uint8_t &amp;brake, uint8_t &amp;moveEnd, uint8_t &amp;posReached, uint8_t &amp;errorCode, float &amp;current)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual float</type>
      <name>getPosition</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a1f30fc7b21b08f60c4070b3706a2b14a</anchor>
      <arglist>(IDType id)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual float</type>
      <name>getVelocity</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a8ae7954336a29b903a8df863e0df1d1f</anchor>
      <arglist>(IDType id)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>init</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>aaaa32d8effde4a6eeb580c1a4e8fbc4f</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>movePosition</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a0af5c45a75f53946f4ec490437e0856f</anchor>
      <arglist>(IDType id, float position)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>movePositionDuration</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a3d2ff2658fcac060f1cf4d4de780b871</anchor>
      <arglist>(IDType id, float position, uint16_t msecs)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>moveVelocity</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a61c0ba28cd7d6a494d74fcfa81b1cc99</anchor>
      <arglist>(IDType id, float v)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>normalStopAll</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a855d96041055333150252c618e280c0e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>normalStopJoint</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a3f467f65afa37eb5af20bb513f21aacd</anchor>
      <arglist>(IDType id)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>refAll</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a6d445f0ec6a0e15aebc60a39215cebec</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>refJoint</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>ad273467436744a9df72cddcf9427f2b1</anchor>
      <arglist>(IDType id)=0</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotArm</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a0ba1c0d12a4fa49883ebf91a2bfcc291</anchor>
      <arglist>(IDType id_offset=0)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>setAcceleration</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>ae8cd71ca2801ea74d20ffeb3ae396bcd</anchor>
      <arglist>(IDType id, float acceleration)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>setCurrent</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>af6131ddf0693a832c84a0254b8b1b09d</anchor>
      <arglist>(IDType id, float current)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setCurrentsToMax</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a80872e923048e5ada1eeaa66bafb6c87</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>setVelocity</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a9a8db5815899c15b1520701a51092e4b</anchor>
      <arglist>(IDType id, float velocity)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~RobotArm</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a289c75e337d0a4901610e4b44b04ce76</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>IDType</type>
      <name>id_offset_</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>ad8721c71ad02580dd71c47a57fc66f8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>modules_count_</name>
      <anchorfile>classRobotArm.html</anchorfile>
      <anchor>a45a8633964bd22e1c0a7a494a75ccdaa</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SchunkProtocolArm</name>
    <filename>classSchunkProtocolArm.html</filename>
    <base>RobotArm</base>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>ackJoint</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>a544bd6cca5347030d7717b521e685389</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>emergencyStopJoint</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>a43af1cc4e9e56073e6de3b315733b4c9</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function">
      <type>const SCHUNKMotionManipulator &amp;</type>
      <name>getManipulator</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>a029e05309b5f1fedba52b01f075524dd</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual float</type>
      <name>getMaxCurrent</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>abd33cd4a064470b4661eaad590aff71b</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>getModuleStatus</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>a77e07568577af5c3864f401f626251a7</anchor>
      <arglist>(int module_id, uint8_t &amp;referenced, uint8_t &amp;moving, uint8_t &amp;progMode, uint8_t &amp;warning, uint8_t &amp;error, uint8_t &amp;brake, uint8_t &amp;moveEnd, uint8_t &amp;posReached, uint8_t &amp;errorCode, float &amp;current)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual float</type>
      <name>getPosition</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>a6b08e8e7a26494bc62c37817d76ec5a3</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual float</type>
      <name>getVelocity</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>ae571f28ba413d810c37aaf29cf2e1aea</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>init</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>ac585b7984b9321d7c8e4a73c10808b39</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>movePosition</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>ab698dba439de9232336607a70293efe0</anchor>
      <arglist>(IDType id, float position)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>movePositionDuration</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>ad509ef11c51327201d494bd1c27d6417</anchor>
      <arglist>(IDType id, float position, uint16_t msecs)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>moveVelocity</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>a4a5daed98b46411ec6d493d047b9a899</anchor>
      <arglist>(IDType id, float velocity)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>normalStopJoint</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>a241c26758b6e20a9c14ce206057d87c9</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>refJoint</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>a649fdf800dc12657fde501087276a31d</anchor>
      <arglist>(IDType id)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SchunkProtocolArm</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>a584dfad5ea4e9d74aaf7ea3dc6cad165</anchor>
      <arglist>(IDType id_offset=100)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setAcceleration</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>aeb38dcc8203950cc36ae89c09b748702</anchor>
      <arglist>(IDType id, float acceleration)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setCurrent</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>aa64cd7a48b809293e33fb14e05302557</anchor>
      <arglist>(IDType id, float current)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setVelocity</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>aa98b739ea325840f1e8429fe145007b5</anchor>
      <arglist>(IDType id, float velocity)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>SCHUNKMotionManipulator</type>
      <name>manipulator_</name>
      <anchorfile>classSchunkProtocolArm.html</anchorfile>
      <anchor>a08c2925f6901e8f26a1dc522159eacdc</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SchunkServer</name>
    <filename>classSchunkServer.html</filename>
    <base protection="private">boost::noncopyable</base>
    <member kind="function">
      <type></type>
      <name>SchunkServer</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>ae94baf1974d7bd69cb99d2ca50c87e47</anchor>
      <arglist>(ros::NodeHandle &amp;nh)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~SchunkServer</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a1905138e729b3df591d2420f2b01494c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cb_ack</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>ab6e0ecb3cc5f55b7b9546b38ad8f9b5f</anchor>
      <arglist>(const std_msgs::Int8::ConstPtr &amp;id)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cb_ackAll</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a7d374817fa8a655214bd7f78923720ae</anchor>
      <arglist>(const std_msgs::Empty::ConstPtr &amp;dummy)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cb_commandTrajectory</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a8bb1b268654d0ff1301b4def1a7600be</anchor>
      <arglist>(const trajectory_msgs::JointTrajectory traj)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cb_emergency</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>aea0726adb00b72e0ec58e88a14bcf072</anchor>
      <arglist>(const std_msgs::Empty::ConstPtr &amp;dummy)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cb_moveAllPosition</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>ac01bafff0e9ea3cc9ca986174ef19734</anchor>
      <arglist>(const sensor_msgs::JointState::ConstPtr &amp;data)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cb_moveAllVelocity</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>ab39f877bc04f992c7ed28cee889d0289</anchor>
      <arglist>(const sensor_msgs::JointState::ConstPtr &amp;data)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cb_movePosition</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>af23297a9fadd7fbfcf5f22f4fa104561</anchor>
      <arglist>(const metralabs_msgs::IDAndFloat::ConstPtr &amp;data)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cb_moveVelocity</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a1a141a32d261e480f54ee5e43b7f300a</anchor>
      <arglist>(const metralabs_msgs::IDAndFloat::ConstPtr &amp;data)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cb_ref</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a9b704fc3e93b49e9b8058766e0f36c0f</anchor>
      <arglist>(const std_msgs::Int8::ConstPtr &amp;id)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cb_refAll</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>ac1d0459356b69b99c73006cd1bde6f3b</anchor>
      <arglist>(const std_msgs::Empty::ConstPtr &amp;dummy)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cb_setAcceleration</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a4b74a3c74662a2a06d0050f23d57572c</anchor>
      <arglist>(const metralabs_msgs::IDAndFloat::ConstPtr &amp;data)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cb_setCurrent</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>adbc7e863c81d3f7c45bdcda381eb422c</anchor>
      <arglist>(const metralabs_msgs::IDAndFloat::ConstPtr &amp;data)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cb_setCurrentsMaxAll</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a7d3cbe0775d330415671ceb52d3b36a7</anchor>
      <arglist>(const std_msgs::Empty::ConstPtr &amp;dummy)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cb_setVelocity</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>ab5c87c57914ba0d92a1c1f19cd27e738</anchor>
      <arglist>(const metralabs_msgs::IDAndFloat::ConstPtr &amp;data)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cb_stop</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a236a5eef37163c1238eb7509f073dc85</anchor>
      <arglist>(const std_msgs::Empty::ConstPtr &amp;dummy)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>init</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>aa8c4804647e637de2ffe0882de49b169</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>publishCurrentJointState</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a755a8eea462d5bc65711757dc7b3e15b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>publishCurrentSchunkStatus</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>aac8c2bd7c6dab7e869fa17caf83c6673</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>publishingLoop</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a6e3d63b5a1601842dafe5d672caabedc</anchor>
      <arglist>(ros::Rate loop_rate)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>renewRobotArm</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>aa6ddb5b3a4fbe61347a4f5ba9d34efc6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>ack_all_subscriber_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a67f6064b3bca6996e27d761706d455e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>ack_subscriber_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>ad88169bdc67b14c8e6b975ab37f72bd9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RobotArm *</type>
      <name>arm_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a85033b4e5befd302b4445ba7a0da28ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>urdf::Model</type>
      <name>arm_model_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>af92dbfec24e72ae2d2e4ba0404c12b45</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>sensor_msgs::JointState</type>
      <name>current_JointState_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a3ab195ba014d13adfe63dd4a7da3afce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>current_JointState_publisher_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a244e38b820cfe24bb18b90984cb62b82</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>metralabs_msgs::SchunkStatus</type>
      <name>current_SchunkStatus_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a0a1e9c29b3720df21abb9be1d63e2dbe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>current_SchunkStatus_publisher_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a7fbaf5daf4ddc7805bc36e47a4e578d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>emergency_subscriber_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a64dc7fd36aa4add6e569628d158a8b9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>first_ref_subscriber_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a7e764fbe8c8a7ef37ad4b0df7f4adda7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; boost::shared_ptr&lt; urdf::Joint &gt; &gt;</type>
      <name>joints_list_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>aa55bb21a2350387a23ec5c112b311583</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::map&lt; std::string, unsigned int &gt;</type>
      <name>joints_name_to_number_map_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a60c4b47bcc6462a472db0a35de45fc5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>move_all_position_subscriber_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a9d7f9bab63a71549e706cdd2c53c8277</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>move_all_velocity_subscriber_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a39ce8d5353d338f23b0cbe06958daa38</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>move_position_subscriber_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a51aaba74d36ddebab2c4ef3f201eef06</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>move_velocity_subscriber_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>aa3809c87330cd6ebb5e4576a28dddc85</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::NodeHandle</type>
      <name>node_handle_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>af7ca0d73e5707798d59612fa7dd8c4b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>ref_all_subscriber_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a81a39bff278fbface5c0abc9cf15c511</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>ref_subscriber_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a4686e8f94f8a4e24184e576b132856e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>set_acceleration_subscriber_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>aa225e0bf0a917a0a2ad9aef2fb5125a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>set_current_subscriber_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a4df3c3fa01d3e66c34bb1b4a21a0ab95</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>set_currents_max_all_subscriber_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a777d7e1fa5210cfdf581987ca15ce613</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>set_velocity_subscriber_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a2287f2d66c22c6ed6b8c547098948e02</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>stop_subscriber_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>a1e3b50f22d7fea3c0145ad3851523ad4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>trajectory_command_subscriber_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>ade33b983ea1fdab3a8ea56bb80c3682b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>TrajectoryExecuter</type>
      <name>trajectory_executer_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>af4bf09e63223a938bd29246a94eb360a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::thread</type>
      <name>trajectory_executer_thread_</name>
      <anchorfile>classSchunkServer.html</anchorfile>
      <anchor>adf13dd2a68a7721774bc9572438f5cd9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ScitosBase</name>
    <filename>classScitosBase.html</filename>
    <base protection="private">boost::noncopyable</base>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>dataChanged</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a73fe38acb6b21b8b2ac9d66c5506e6f1</anchor>
      <arglist>(const BlackboardData *pData)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ScitosBase</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>add8e8f87e374838cdf9789bce6340b66</anchor>
      <arglist>(const char *, int pArgc, char *pArgv[], ros::NodeHandle &amp;nh)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~ScitosBase</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>ad2f2674a414a293f2cbd51a83ee260e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>bumperDataCallbackHandler</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a7e6c0a7c04ae20bd07b05af9dae89b3f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>bumperResetCallback</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a5a0fffb26317eae823dc12fc640e5a98</anchor>
      <arglist>(const std_msgs::EmptyConstPtr &amp;dummy)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>checkSubscribersLoop</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a880913d07ca1a9c1bdd91490ba2dfa5b</anchor>
      <arglist>(ros::Rate loop_rate)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>diagnosticsPublishingLoop</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a9e695abbb59573eb96dece83f99cdddb</anchor>
      <arglist>(ros::Rate loop_rate)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>driveCommandCallback</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a446b25d274f026dad599b43e49d6fb55</anchor>
      <arglist>(const geometry_msgs::TwistConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>dynamicReconfigureCallback</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a6f4183d5b58aafded3e1a53e3ae4d0ec</anchor>
      <arglist>(metralabs_ros::ScitosG5Config &amp;config, uint32_t level)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>dynamicReconfigureUpdaterLoop</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a0920291d13354707d3729d2f8a7e04ce</anchor>
      <arglist>(dynamic_reconfigure::Server&lt; metralabs_ros::ScitosG5Config &gt; &amp;dynamic_reconfigure_server, boost::recursive_mutex &amp;mutex, ros::Rate loop_rate)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>FeatureType</type>
      <name>getFeature</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>abc1126df31910e8b9f79f365ed12c332</anchor>
      <arglist>(std::string name)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>getFeatures</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>ab3bdf040c0328a75e6aa5c8e0da13841</anchor>
      <arglist>(metralabs_ros::ScitosG5Config &amp;config)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>odometryCallbackHandler</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a79877c00d569ce03c73d9d007c332964</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>resetBumper</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>aaa394eaec673b85f121d82d1be9c4d84</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>setFeature</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a05ee7894002ae3e86f7119bd634006bb</anchor>
      <arglist>(std::string name, bool value)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>setFeature</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a36d4c8dae26df38407ee9b1f8b992288</anchor>
      <arglist>(std::string name, int value)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>setFeature</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>ae4319060aafca060fba0c78850a16be9</anchor>
      <arglist>(std::string name, float value)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>setFeature</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a3862936f9ac06482e1989205137fa9ee</anchor>
      <arglist>(std::string name, FeatureType value)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>setVelocity</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>aa3bdefe0074cec33fa7c41d8dbe31d9b</anchor>
      <arglist>(double translational_velocity, double rotational_velocity)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>sonarCallbackHandler</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>af3213946f4e002ef8d84a4f71dd0d48d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Application *</type>
      <name>app_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a3830e612daf6ce23579f6f6f163bbda0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BlackboardDataBatteryState *</type>
      <name>battery_state_data_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a71b9b38a2b2df70061a1eae216ad8f2c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Blackboard *</type>
      <name>blackboard_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>ac57f9522586435b22b3cad57eb3d3c59</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BlackboardDataBumper *</type>
      <name>bumper_data_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a682b6685641f8df314ee1a5fe8afdeb3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>bumper_publisher_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a15ef3036d6070ea28863fbdbcaa770ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BlackboardDataUInt8 *</type>
      <name>bumper_reset_cmd_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a23121504823d4fef1266616ff7fa631f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>bumper_reset_subscriber_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a919da37ecb2fed9f201d987a70e9bcc9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ClassFactory *</type>
      <name>class_factory_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a734db4930c4753e8360a85a1249ca00b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>cmd_vel_subscriber_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a17f5853162e489b7b512003bf3c1775a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>diagnostics_publisher_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a749d6d3fff3f9620018f7abbd9071121</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::recursive_mutex</type>
      <name>dynamic_reconfigure_mutex_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a8bc777906283bb27ed24e7c383da5d2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>dynamic_reconfigure::Server&lt; metralabs_ros::ScitosG5Config &gt;</type>
      <name>dynamic_reconfigure_server_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a5e48d68854cf38368853c6ae5294d930</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::NodeHandle &amp;</type>
      <name>node_handle_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a8b8f616a45b9145cff54c4812a3a5f55</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>odom_publisher_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>ae158d7673a0655d764745e2479c353d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BlackboardDataOdometry *</type>
      <name>odometry_data_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a47367cc13f9d32eb16f19fd26ba0b3d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Robot *</type>
      <name>robot_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>aa8df6fe2f8e032e1a90540bf5566f29f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BlackboardDataRange *</type>
      <name>sonar_data_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a097edd799010d5b3970375a7f448cb56</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>sonar_is_requested_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>ac97d438cc8faf25e14631abc333890d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>sonar_publisher_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a7def4e8d1b0263e21ad3220d10e90f57</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::TransformBroadcaster</type>
      <name>tf_broadcaster_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>aaf5fae13cd67286fa0805740f1d42323</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BlackboardDataVelocity *</type>
      <name>velocity_cmd_</name>
      <anchorfile>classScitosBase.html</anchorfile>
      <anchor>a14ae4c459928ee3280c67f2ae332d7fc</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>TrajectoryExecuter</name>
    <filename>classTrajectoryExecuter.html</filename>
    <base protection="private">boost::noncopyable</base>
    <member kind="function">
      <type>void</type>
      <name>init</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>a1fadd55ddc0a60c191a7cfb9986f2704</anchor>
      <arglist>(RobotArm *arm, std::map&lt; std::string, unsigned int &gt; &amp;joints_name_to_number_map)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isRunning</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>aa1568ffcc6e58d7e62cfa549643519b8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isWaiting</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>aede731aee72c6438119c4a2693a877da</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>main</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>af30d2283349e0b2627d28552b6a4f13d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>start</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>aa07602b2d8e96b53b00ee7e9b47381b0</anchor>
      <arglist>(const trajectory_msgs::JointTrajectory &amp;newtraj)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>stop</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>a6bcdfbac3b33c7961475f67ea777fd3e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>trajectoryActionCallback</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>adabc380e78b830d09e813f4f02aeeb97</anchor>
      <arglist>(const control_msgs::FollowJointTrajectoryGoalConstPtr &amp;goal)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectoryExecuter</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>aa2bad723efa5624df90ec744902e9382</anchor>
      <arglist>(ros::NodeHandle &amp;nh)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~TrajectoryExecuter</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>a80f2bebf7695010bbc120715d49aa0d8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>actionlib::SimpleActionServer&lt; control_msgs::FollowJointTrajectoryAction &gt;</type>
      <name>ActionServerType</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>aec5e5e561660c7c4389250f207666a75</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>action_name_</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>af579b695c701062b168ce64618e126b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ActionServerType *</type>
      <name>as_</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>aaa6d9a7b190cd7e5f7622ab37b0bcc83</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>control_msgs::FollowJointTrajectoryFeedback</type>
      <name>feedback_</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>a79ef8ddc1354e9da0124823c3972ce63</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::NodeHandle</type>
      <name>nh_</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>a9c4df2dc60c9d8191c664dedce298925</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>control_msgs::FollowJointTrajectoryResult</type>
      <name>result_</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>aba9e36e65a6bf69d050197f76a13b7c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>followTrajectory</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>a64462f8cac1fb0b0a14ddf849644e3cd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RobotArm *</type>
      <name>arm_</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>acdf481e8ff6da8d07d73c963978517d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::condition_variable</type>
      <name>cond_</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>a64644fed3a0f597f378c73afe5121807</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::map&lt; std::string, unsigned int &gt;</type>
      <name>joints_name_to_number_map_</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>ada3d30afa9cf3b3f658a38c0ec9e2922</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::mutex</type>
      <name>mut_</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>ac7b16f89e1cfd7433d936a04a16e1ef8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>run_</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>afa0466996edd59de284d2ba92d51ed97</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>control_msgs::JointTrajectoryControllerState</type>
      <name>state_msg_</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>a92b7170045dbf84abeab16dca25f263f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>state_publisher_</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>ad54ce5ee01d8d51f044b3cd702b6828e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>trajectory_msgs::JointTrajectory</type>
      <name>traj_</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>ac2025f3a3a4e7dc26cf652c60d3d2a94</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>waiting_</name>
      <anchorfile>classTrajectoryExecuter.html</anchorfile>
      <anchor>a34fe1efff6f01debd5a1468dd0980dd4</anchor>
      <arglist></arglist>
    </member>
  </compound>
</tagfile>
