Public Member Functions | Private Member Functions | Private Attributes
ROSComm Class Reference
Inheritance diagram for ROSComm:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 ROSComm (const ros::NodeHandle &n, double sigma_x, double sigma_theta, double cov_x_y, double cov_x_theta, double cov_y_theta, int ticks_per_turn_of_wheel)
virtual void send_gyro (double theta, double sigma)
virtual void send_odometry (double z, double x, double theta, double v_encoder, double v_encoder_angular, int wheel_a, int wheel_b, double v_encoder_left, double v_encoder_right)
virtual void send_pitch_roll (double pitch, double roll)
virtual void send_rotunit (double rot)
virtual void send_sonar_back_rightBack_rightFront (int ir_back, int ir_right_back, int ir_right)
virtual void send_sonar_front_usound_leftFront_left (int ir_right_front, int usound, int ir_left_front, int ir_left)
virtual void send_sonar_leftBack (int ir_left_back)
void setTFPrefix (const std::string &tf_prefix)

Private Member Functions

void populateCovariance (nav_msgs::Odometry &msg, double v_encoder, double v_encoder_angular)

Private Attributes

double cov_x_theta_
double cov_x_y_
double cov_y_theta_
ros::Publisher imu_pub_
ros::Publisher joint_pub_
ros::NodeHandle n_
tf::TransformBroadcaster odom_broadcaster_
ros::Publisher odom_pub_
bool publish_tf_
ros::Publisher range_pub_
double sigma_theta_
double sigma_x_
std::string tf_prefix_
int ticks_per_turn_of_wheel_

Detailed Description

Definition at line 17 of file kurt_base.cc.


Constructor & Destructor Documentation

ROSComm::ROSComm ( const ros::NodeHandle n,
double  sigma_x,
double  sigma_theta,
double  cov_x_y,
double  cov_x_theta,
double  cov_y_theta,
int  ticks_per_turn_of_wheel 
) [inline]

Definition at line 20 of file kurt_base.cc.


Member Function Documentation

void ROSComm::populateCovariance ( nav_msgs::Odometry &  msg,
double  v_encoder,
double  v_encoder_angular 
) [private]

Definition at line 76 of file kurt_base.cc.

void ROSComm::send_gyro ( double  theta,
double  sigma 
) [virtual]

Implements Comm.

Definition at line 283 of file kurt_base.cc.

void ROSComm::send_odometry ( double  z,
double  x,
double  theta,
double  v_encoder,
double  v_encoder_angular,
int  wheel_a,
int  wheel_b,
double  v_encoder_left,
double  v_encoder_right 
) [virtual]

Implements Comm.

Definition at line 128 of file kurt_base.cc.

void ROSComm::send_pitch_roll ( double  pitch,
double  roll 
) [virtual]

Implements Comm.

Definition at line 278 of file kurt_base.cc.

void ROSComm::send_rotunit ( double  rot) [virtual]

Implements Comm.

Definition at line 302 of file kurt_base.cc.

void ROSComm::send_sonar_back_rightBack_rightFront ( int  ir_back,
int  ir_right_back,
int  ir_right 
) [virtual]

Implements Comm.

Definition at line 248 of file kurt_base.cc.

void ROSComm::send_sonar_front_usound_leftFront_left ( int  ir_right_front,
int  usound,
int  ir_left_front,
int  ir_left 
) [virtual]

Implements Comm.

Definition at line 210 of file kurt_base.cc.

void ROSComm::send_sonar_leftBack ( int  ir_left_back) [virtual]

Implements Comm.

Definition at line 196 of file kurt_base.cc.

void ROSComm::setTFPrefix ( const std::string &  tf_prefix)

Definition at line 71 of file kurt_base.cc.


Member Data Documentation

double ROSComm::cov_x_theta_ [private]

Definition at line 59 of file kurt_base.cc.

double ROSComm::cov_x_y_ [private]

Definition at line 59 of file kurt_base.cc.

double ROSComm::cov_y_theta_ [private]

Definition at line 59 of file kurt_base.cc.

Definition at line 67 of file kurt_base.cc.

Definition at line 68 of file kurt_base.cc.

Definition at line 58 of file kurt_base.cc.

Definition at line 64 of file kurt_base.cc.

Definition at line 65 of file kurt_base.cc.

Definition at line 61 of file kurt_base.cc.

Definition at line 66 of file kurt_base.cc.

double ROSComm::sigma_theta_ [private]

Definition at line 59 of file kurt_base.cc.

double ROSComm::sigma_x_ [private]

Definition at line 59 of file kurt_base.cc.

std::string ROSComm::tf_prefix_ [private]

Definition at line 62 of file kurt_base.cc.

Definition at line 60 of file kurt_base.cc.


The documentation for this class was generated from the following file:
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kurt_base
Author(s): Jochen Sprickerhof
autogenerated on Tue May 28 2013 14:54:59