Public Member Functions | Public Attributes
controller::BaseKinematics Class Reference

#include <base_kinematics.h>

List of all members.

Public Member Functions

void computeWheelPositions ()
 Computes 2d postion of every wheel relative to the center of the base.
bool init (pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node)
 Loads BaseKinematic's information from the xml description file and param server.
geometry_msgs::Twist pointVel2D (const geometry_msgs::Point &pos, const geometry_msgs::Twist &vel)
 Computes 2d velocity of a point at relative distance pos to another point with velocity (and rotation (z)) vel.

Public Attributes

std::vector< Castercaster_
 vector of every caster attached to the base
double MAX_DT_
 maximum dT used in computation of interpolated velocity command
std::string name_
 name of this BaseKinematics (generally associated with whatever controller is using it)
int num_casters_
 number of casters connected to the base
int num_wheels_
 number of wheels connected to the base
std::string robot_base_id_
 Name(string id) of the robot base frame.
pr2_mechanism_model::RobotStaterobot_state_
 remembers everything about the state of the robot
std::vector< Wheelwheel_
 vector of every wheel attached to the base
std::string xml_caster_name_
 the name of the casters in the xml file
std::string xml_wheel_name_
 the name of the wheels in the xml file

Detailed Description

Definition at line 229 of file base_kinematics.h.


Member Function Documentation

Computes 2d postion of every wheel relative to the center of the base.

Definition at line 206 of file base_kinematics.cpp.

Loads BaseKinematic's information from the xml description file and param server.

Parameters:
robot_stateThe robot's current state
configTiny xml element pointing to its controller
Returns:
Successful init

Definition at line 144 of file base_kinematics.cpp.

geometry_msgs::Twist BaseKinematics::pointVel2D ( const geometry_msgs::Point pos,
const geometry_msgs::Twist &  vel 
)

Computes 2d velocity of a point at relative distance pos to another point with velocity (and rotation (z)) vel.

Parameters:
posThe position of the object relative to the center of rotation
velVelocity of the center of rotation
Returns:
Velocity at the given point

Definition at line 215 of file base_kinematics.cpp.


Member Data Documentation

vector of every caster attached to the base

Definition at line 277 of file base_kinematics.h.

maximum dT used in computation of interpolated velocity command

Definition at line 297 of file base_kinematics.h.

name of this BaseKinematics (generally associated with whatever controller is using it)

Definition at line 292 of file base_kinematics.h.

number of casters connected to the base

Definition at line 267 of file base_kinematics.h.

number of wheels connected to the base

Definition at line 262 of file base_kinematics.h.

Name(string id) of the robot base frame.

Definition at line 302 of file base_kinematics.h.

remembers everything about the state of the robot

Definition at line 257 of file base_kinematics.h.

vector of every wheel attached to the base

Definition at line 272 of file base_kinematics.h.

the name of the casters in the xml file

Definition at line 282 of file base_kinematics.h.

the name of the wheels in the xml file

Definition at line 287 of file base_kinematics.h.


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


pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Thu Apr 24 2014 15:44:51