Controller Class Reference

List of all members.

Public Member Functions
	Controller (const std::string &worldFrame, const std::string &frame, const ros::NodeHandle &n)
void	run (double frequency)
Private Types
enum	State { Idle = 0, Automatic = 1, TakingOff = 2, Landing = 3 }
Private Member Functions
void	getTransform (const std::string &sourceFrame, const std::string &targetFrame, tf::StampedTransform &result)
void	goalChanged (const geometry_msgs::PoseStamped::ConstPtr &msg)
void	iteration (const ros::TimerEvent &e)
bool	land (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	pidReset ()
bool	takeoff (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
Private Attributes
std::string	m_frame
geometry_msgs::PoseStamped	m_goal
tf::TransformListener	m_listener
PID	m_pidX
PID	m_pidY
PID	m_pidYaw
PID	m_pidZ
ros::Publisher	m_pubNav
ros::ServiceServer	m_serviceLand
ros::ServiceServer	m_serviceTakeoff
float	m_startZ
State	m_state
ros::Subscriber	m_subscribeGoal
float	m_thrust
std::string	m_worldFrame

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Detailed Description

Definition at line 17 of file controller.cpp.

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Member Enumeration Documentation

enum Controller::State [private]

Enumerator:

Idle
Automatic
TakingOff
Landing

Definition at line 217 of file controller.cpp.

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Constructor & Destructor Documentation

Controller::Controller	(	const std::string &	worldFrame,
		const std::string &	frame,
		const ros::NodeHandle &	n
	)		[inline]

Definition at line 21 of file controller.cpp.

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Member Function Documentation

void Controller::getTransform	(	const std::string &	sourceFrame,
		const std::string &	targetFrame,
		tf::StampedTransform &	result
	)		[inline, private]

Definition at line 119 of file controller.cpp.

void Controller::goalChanged

(

const geometry_msgs::PoseStamped::ConstPtr &

msg

)

[inline, private]

Definition at line 89 of file controller.cpp.

void Controller::iteration

(

const ros::TimerEvent &

e

)

[inline, private]

Definition at line 135 of file controller.cpp.

bool Controller::land	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		[inline, private]

Definition at line 109 of file controller.cpp.

void Controller::pidReset

(

)

[inline, private]

Definition at line 127 of file controller.cpp.

void Controller::run

(

double

frequency

)

[inline]

Definition at line 81 of file controller.cpp.

bool Controller::takeoff	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		[inline, private]

Definition at line 95 of file controller.cpp.

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Member Data Documentation

std::string Controller::m_frame [private]

Definition at line 227 of file controller.cpp.

geometry_msgs::PoseStamped Controller::m_goal [private]

Definition at line 235 of file controller.cpp.

tf::TransformListener Controller::m_listener [private]

Definition at line 229 of file controller.cpp.

PID Controller::m_pidX [private]

Definition at line 230 of file controller.cpp.

PID Controller::m_pidY [private]

Definition at line 231 of file controller.cpp.

PID Controller::m_pidYaw [private]

Definition at line 233 of file controller.cpp.

PID Controller::m_pidZ [private]

Definition at line 232 of file controller.cpp.

ros::Publisher Controller::m_pubNav [private]

Definition at line 228 of file controller.cpp.

ros::ServiceServer Controller::m_serviceLand [private]

Definition at line 238 of file controller.cpp.

ros::ServiceServer Controller::m_serviceTakeoff [private]

Definition at line 237 of file controller.cpp.

float Controller::m_startZ [private]

Definition at line 240 of file controller.cpp.

State Controller::m_state [private]

Definition at line 234 of file controller.cpp.

ros::Subscriber Controller::m_subscribeGoal [private]

Definition at line 236 of file controller.cpp.

float Controller::m_thrust [private]

Definition at line 239 of file controller.cpp.

std::string Controller::m_worldFrame [private]

Definition at line 226 of file controller.cpp.

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

• controller.cpp