A class that provides motion controller implementation. Inherits publicly MotionController. More...
#include <ideal_motion_controller.h>
Public Member Functions | |
| void | calculateMotion (const ros::TimerEvent &event) |
| Calculates the motion - updates the robot pose. | |
| IdealMotionController (const geometry_msgs::Pose2D &pose, tf::TransformBroadcaster &tf, ros::NodeHandle &n, const std::string &name) | |
| Default constructor. | |
| void | stop (void) |
| Stops the robot. | |
| void | velocityCallback (const geometry_msgs::Twist &msg) |
| Callback for velocity commands. | |
| ~IdealMotionController (void) | |
| Default destructor. | |
Detailed Description
A class that provides motion controller implementation. Inherits publicly MotionController.
Definition at line 38 of file ideal_motion_controller.h.
Constructor & Destructor Documentation
| stdr_robot::IdealMotionController::IdealMotionController | ( | const geometry_msgs::Pose2D & | pose, |
| tf::TransformBroadcaster & | tf, | ||
| ros::NodeHandle & | n, | ||
| const std::string & | name | ||
| ) |
Default constructor.
- Parameters:
-
pose [const geometry_msgs::Pose2D&] The robot pose tf [tf::TransformBroadcaster&] A ROS tf broadcaster n [ros::NodeHandle&] The ROS node handle name [const std::string&] The robot frame id
- Returns:
- void
Definition at line 34 of file ideal_motion_controller.cpp.
Member Function Documentation
| void stdr_robot::IdealMotionController::calculateMotion | ( | const ros::TimerEvent & | event | ) | [virtual] |
Calculates the motion - updates the robot pose.
- Parameters:
-
event [const ros::TimerEvent&] A ROS timer event
- Returns:
- void
< updates _posePtr based on _currentTwist and time passed (event.last_real)
Implements stdr_robot::MotionController.
Definition at line 78 of file ideal_motion_controller.cpp.
| void stdr_robot::IdealMotionController::stop | ( | void | ) | [virtual] |
Stops the robot.
- Returns:
- void
Implements stdr_robot::MotionController.
Definition at line 67 of file ideal_motion_controller.cpp.
| void stdr_robot::IdealMotionController::velocityCallback | ( | const geometry_msgs::Twist & | msg | ) | [virtual] |
Callback for velocity commands.
- Parameters:
-
msg [const geometry_msgs::Twist&] The velocity command
- Returns:
- void
Implements stdr_robot::MotionController.
Definition at line 58 of file ideal_motion_controller.cpp.
The documentation for this class was generated from the following files: