head_controller Class Reference

Provides direct communication to the Rovio to control the head. More...

#include <rovio_head.h>

List of all members.

Public Member Functions
	head_controller ()
	Creates a head_controller using ROS parameters.
void	pub_head_sensor ()
	Publishes head sensor information.
	~head_controller ()
	Cleans up any resources and connections to the Rovio.
Private Member Functions
bool	head_ctrl_callback (rovio_shared::head_ctrl::Request &req, rovio_shared::head_ctrl::Response &resp)
	head_ctrl service callback function.
Private Attributes
ros::ServiceServer	head_ctrl
ros::Publisher	head_sensor
std::string	host
ros::NodeHandle	node
rovio_http *	rovio

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Detailed Description

Provides direct communication to the Rovio to control the head.

The head_controller handles communication to the Rovio's head motor devices. ROS nodes, services, and publishers are created and maintained within this object.

Definition at line 25 of file rovio_head.h.

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Constructor & Destructor Documentation

head_controller::head_controller

(

)

Creates a head_controller using ROS parameters.

Creates a head_controller object that can be used control and query the Rovio's head motors. A valid username, password, and host must be set as ROS parameters.

Definition at line 21 of file rovio_head.cpp.

head_controller::~head_controller

(

)

Cleans up any resources and connections to the Rovio.

Uses the deconstructor from the rovio_http class to clean up any resources and connections to the Rovio.

Definition at line 53 of file rovio_head.cpp.

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Member Function Documentation

bool head_controller::head_ctrl_callback	(	rovio_shared::head_ctrl::Request &	req,
		rovio_shared::head_ctrl::Response &	resp
	)		[private]

head_ctrl service callback function.

Process the service request and attempt to move the Rovio's head.

Parameters:

req	the request for the head_ctrl service
resp	the response for the head_ctrl service to be filled

Returns:

if the request was successfully sent to the Rovio

Definition at line 59 of file rovio_head.cpp.

void head_controller::pub_head_sensor

(

)

Publishes head sensor information.

Queries the Rovio for its current head position and publishes a string representation of the data (HEAD_UP, HEAD_DOWN, or HEAD_MIDDLE).

Definition at line 85 of file rovio_head.cpp.

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Member Data Documentation

ros::ServiceServer head_controller::head_ctrl [private]

the head_ctrl service

Definition at line 64 of file rovio_head.h.

ros::Publisher head_controller::head_sensor [private]

the head_sensor publisher

Definition at line 65 of file rovio_head.h.

std::string head_controller::host [private]

host of the Rovio

Definition at line 60 of file rovio_head.h.

ros::NodeHandle head_controller::node [private]

a handle for this ROS node

Definition at line 62 of file rovio_head.h.

rovio_http* head_controller::rovio [private]

communicates with the Rovio

Definition at line 61 of file rovio_head.h.

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

• rovio_head.h
• rovio_head.cpp