device_interface::ServoDeviceBase Class Reference

#include <device_interface.h>

Inheritance diagram for device_interface::ServoDeviceBase:

List of all members.

Public Member Functions
virtual float	last_request ()=0
virtual void	publish (float new_position, ros::Time cycle_time)=0
	ServoDeviceBase (ros::NodeHandle node)
virtual float	value ()=0
Protected Attributes
ros::Publisher	pub_

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Detailed Description

Servo device virtual derived class

Definition at line 51 of file device_interface.h.

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Constructor & Destructor Documentation

device_interface::ServoDeviceBase::ServoDeviceBase

(

ros::NodeHandle

node

)

[inline]

Constructor

Parameters:

node	handle for state and command topics

Definition at line 59 of file device_interface.h.

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Member Function Documentation

virtual float device_interface::ServoDeviceBase::last_request

(

)

[pure virtual]

Implemented in device_interface::DeviceThrottle, device_interface::DeviceSteering, and device_interface::DeviceBrake.

virtual void device_interface::ServoDeviceBase::publish	(	float	new_position,
		ros::Time	cycle_time
	)		[pure virtual]

Publish servo request.

Parameters:

new_position	new position requested
cycle_time	current pilot cycle time stamp

Implemented in device_interface::DeviceThrottle, device_interface::DeviceSteering, and device_interface::DeviceBrake.

virtual float device_interface::ServoDeviceBase::value

(

)

[pure virtual]

Implemented in device_interface::DeviceThrottle, device_interface::DeviceSteering, and device_interface::DeviceBrake.

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Member Data Documentation

ros::Publisher device_interface::ServoDeviceBase::pub_ [protected]

Definition at line 74 of file device_interface.h.

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The documentation for this class was generated from the following file:

• device_interface.h