Public Member Functions | Private Member Functions | Private Attributes
labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType > Class Template Reference

#include <HLControl.hpp>

List of all members.

Public Member Functions

 HLControl ()
void onInit ()

Private Member Functions

void onEstimate (const typename InputType::ConstPtr &estimate)

Private Attributes

ros::Publisher refPub
ros::Subscriber stateSub

Detailed Description

template<class Controller, class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts>
class labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType >

The class contains the ROS template for high level controllers.

Todo:
Add windup type. Convert into template. EnablePolicy add service, topic option selection.

Definition at line 126 of file HLControl.hpp.


Constructor & Destructor Documentation

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts>
labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType >::HLControl ( ) [inline]

Main constructor

Definition at line 132 of file HLControl.hpp.


Member Function Documentation

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts>
void labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType >::onEstimate ( const typename InputType::ConstPtr &  estimate) [inline, private]

Definition at line 154 of file HLControl.hpp.

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts>
void labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType >::onInit ( ) [inline]

Initialize and setup controller.

Definition at line 139 of file HLControl.hpp.


Member Data Documentation

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts>
ros::Publisher labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType >::refPub [private]

The publisher of the TAU message.

Definition at line 167 of file HLControl.hpp.

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts>
ros::Subscriber labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType >::stateSub [private]

The subscribed topics.

Definition at line 171 of file HLControl.hpp.


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


labust_uvapp
Author(s): Dula Nad
autogenerated on Sun Mar 1 2015 12:12:22