MotionGenerator Class Reference

List of all members.

Public Member Functions
	MotionGenerator ()
Protected Member Functions
void	twist_callback (const geometry_msgs::TwistConstPtr &)
Protected Attributes
ros::NodeHandle	nh_
ros::Publisher	pub_
double	radius_
ros::Subscriber	sub_
double	width_

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Detailed Description

Manages a single subscription to Twist messages, produces a Grizzly Drive message with the appropriate individual wheel speeds.

Definition at line 34 of file motion_generator_node.cpp.

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Constructor & Destructor Documentation

MotionGenerator::MotionGenerator

(

)

[inline]

Definition at line 37 of file motion_generator_node.cpp.

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Member Function Documentation

void MotionGenerator::twist_callback

(

const geometry_msgs::TwistConstPtr &

twist

)

[protected]

Open-loop mapping between linear/angular commands and individual wheel speed commands. Currently very naive, but in the future may provide some further intelligence, though not closed-loop control.

Definition at line 60 of file motion_generator_node.cpp.

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Member Data Documentation

ros::NodeHandle MotionGenerator::nh_ [protected]

Definition at line 49 of file motion_generator_node.cpp.

ros::Publisher MotionGenerator::pub_ [protected]

Definition at line 50 of file motion_generator_node.cpp.

double MotionGenerator::radius_ [protected]

Definition at line 52 of file motion_generator_node.cpp.

ros::Subscriber MotionGenerator::sub_ [protected]

Definition at line 51 of file motion_generator_node.cpp.

double MotionGenerator::width_ [protected]

Definition at line 52 of file motion_generator_node.cpp.

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

• motion_generator_node.cpp