controller::CasterController Class Reference

Public Member Functions
	CasterController ()
double	getSteerPosition ()
double	getSteerVelocity ()
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
bool	init (pr2_mechanism_model::RobotState *robot_state, const std::string &caster_joint, const std::string &wheel_l_joint, const std::string &wheel_r_joint, const control_toolbox::Pid &caster_pid, const control_toolbox::Pid &wheel_pid)
void	update ()
	~CasterController ()
Public Attributes
pr2_mechanism_model::JointState *	caster_
double	drive_velocity_
double	steer_velocity_
Static Public Attributes
static const double	WHEEL_OFFSET = 0.049
static const double	WHEEL_RADIUS = 0.079
Private Member Functions
void	setDriveCB (const std_msgs::Float64ConstPtr &msg)
void	setSteerCB (const std_msgs::Float64ConstPtr &msg)
Private Attributes
JointVelocityController	caster_vel_
ros::Subscriber	drive_cmd_
ros::NodeHandle	node_
ros::Subscriber	steer_cmd_
JointVelocityController	wheel_l_vel_
JointVelocityController	wheel_r_vel_

Detailed Description

Definition at line 66 of file caster_controller.h.

controller::CasterController::CasterController ( )

Definition at line 41 of file caster_controller.cpp.

controller::CasterController::~CasterController ( )

Definition at line 46 of file caster_controller.cpp.

double controller::CasterController::getSteerPosition ( ) [inline]

Definition at line 83 of file caster_controller.h.

double controller::CasterController::getSteerVelocity ( ) [inline]

Definition at line 84 of file caster_controller.h.

bool controller::CasterController::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)

Definition at line 73 of file caster_controller.cpp.

bool controller::CasterController::init	(	pr2_mechanism_model::RobotState *	robot_state,
		const std::string &	caster_joint,
		const std::string &	wheel_l_joint,
		const std::string &	wheel_r_joint,
		const control_toolbox::Pid &	caster_pid,
		const control_toolbox::Pid &	wheel_pid
	)