Public Member Functions | |
bool | init (QuadrotorInterface *interface, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) |
MotorController () | |
void | reset () |
void | starting (const ros::Time &time) |
void | stopping (const ros::Time &time) |
void | update (const ros::Time &time, const ros::Duration &period) |
void | wrenchCommandCallback (const geometry_msgs::WrenchStampedConstPtr &command) |
~MotorController () | |
Private Attributes | |
std::string | base_link_frame_ |
ros::ServiceServer | engage_service_server_ |
hector_uav_msgs::MotorCommand | motor_ |
MotorCommandHandlePtr | motor_output_ |
ros::NodeHandle * | node_handle_ |
struct { | |
double force_per_voltage | |
double lever | |
double torque_per_voltage | |
} | parameters_ |
ros::ServiceServer | shutdown_service_server_ |
geometry_msgs::WrenchStamped | wrench_ |
WrenchCommandHandlePtr | wrench_input_ |
ros::Subscriber | wrench_subscriber_ |
Definition at line 42 of file motor_controller.cpp.
Definition at line 45 of file motor_controller.cpp.
Definition at line 49 of file motor_controller.cpp.
bool hector_quadrotor_controller::MotorController::init | ( | QuadrotorInterface * | interface, |
ros::NodeHandle & | root_nh, | ||
ros::NodeHandle & | controller_nh | ||
) | [inline] |
Definition at line 58 of file motor_controller.cpp.
void hector_quadrotor_controller::MotorController::reset | ( | ) | [inline] |
Definition at line 86 of file motor_controller.cpp.
void hector_quadrotor_controller::MotorController::starting | ( | const ros::Time & | time | ) | [inline, virtual] |
Reimplemented from controller_interface::ControllerBase.
Definition at line 110 of file motor_controller.cpp.
void hector_quadrotor_controller::MotorController::stopping | ( | const ros::Time & | time | ) | [inline, virtual] |
Reimplemented from controller_interface::ControllerBase.
Definition at line 116 of file motor_controller.cpp.
void hector_quadrotor_controller::MotorController::update | ( | const ros::Time & | time, |
const ros::Duration & | period | ||
) | [inline, virtual] |
Implements controller_interface::ControllerBase.
Definition at line 121 of file motor_controller.cpp.
void hector_quadrotor_controller::MotorController::wrenchCommandCallback | ( | const geometry_msgs::WrenchStampedConstPtr & | command | ) | [inline] |
Definition at line 101 of file motor_controller.cpp.
std::string hector_quadrotor_controller::MotorController::base_link_frame_ [private] |
Definition at line 174 of file motor_controller.cpp.
Definition at line 169 of file motor_controller.cpp.
Definition at line 177 of file motor_controller.cpp.
Definition at line 179 of file motor_controller.cpp.
hector_uav_msgs::MotorCommand hector_quadrotor_controller::MotorController::motor_ [private] |
Definition at line 173 of file motor_controller.cpp.
Definition at line 165 of file motor_controller.cpp.
Definition at line 167 of file motor_controller.cpp.
struct { ... } hector_quadrotor_controller::MotorController::parameters_ [private] |
Definition at line 170 of file motor_controller.cpp.
Definition at line 178 of file motor_controller.cpp.
geometry_msgs::WrenchStamped hector_quadrotor_controller::MotorController::wrench_ [private] |
Definition at line 172 of file motor_controller.cpp.
Definition at line 164 of file motor_controller.cpp.
Definition at line 168 of file motor_controller.cpp.