base_controller.cpp File Reference

This class converts parses Twist messages and computes the effort that needs to be put on the wheels. More...

#include "amigo_gazebo/base_controller.h"
#include <pluginlib/class_list_macros.h>

Include dependency graph for base_controller.cpp:

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Defines
#define	DIS2CENT   0.28991378
#define	HALFSQRT2   0.7071
#define	WHEELRAD   0.06
Functions
	PLUGINLIB_REGISTER_CLASS (BaseControllerPlugin, controller::BaseController, pr2_controller_interface::Controller) using namespace controller
	Register controller to pluginlib.
Variables
static const double	EPS = 1e-8

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Detailed Description

This class converts parses Twist messages and computes the effort that needs to be put on the wheels.

Author:

Sjoerd van den Dries, Kris van Tienhoven

Date:

December, 2012

Version:

1.0

Definition in file base_controller.cpp.

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Define Documentation

#define DIS2CENT   0.28991378

Definition at line 52 of file base_controller.cpp.

#define HALFSQRT2   0.7071

Definition at line 53 of file base_controller.cpp.

#define WHEELRAD   0.06

Definition at line 51 of file base_controller.cpp.

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Function Documentation

PLUGINLIB_REGISTER_CLASS	(	BaseControllerPlugin	,
		controller::BaseController	,
		pr2_controller_interface::Controller
	)

Register controller to pluginlib.

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Variable Documentation

const double EPS = 1e-8 [static]

Definition at line 62 of file base_controller.cpp.