#include <MobilityBasePlugin.h>

Public Member Functions
void	Load (physics::ModelPtr _parent, sdf::ElementPtr sdf)
	MobilityBasePlugin ()
	~MobilityBasePlugin ()
Static Public Attributes
static _CONST double	ACCEL_INSTANT_VXY = 0.5
static _CONST double	ACCEL_INSTANT_WZ = 0.5 * M_PI
static _CONST double	ACCEL_LIMIT_FAST_VXY = 4.0
static _CONST double	ACCEL_LIMIT_FAST_WZ = 3.0 * M_PI
static _CONST double	ACCEL_LIMIT_SLOW_VXY = 1.0
static _CONST double	ACCEL_LIMIT_SLOW_WZ = 1.0 * M_PI
static _CONST double	CMD_TIMEOUT = 0.2
static _CONST double	GAIN_X = 1.0
static _CONST double	GAIN_Y = 1.0
static _CONST double	GAIN_Z = 1.0
static _CONST unsigned int	NUM_ROLLERS = 12
static _CONST unsigned int	NUM_WHEELS = 4
static _CONST double	PUB_FREQ_BUMPERS = 10.0
static _CONST double	PUB_FREQ_IMU = 100.0
static _CONST double	PUB_FREQ_JOYSTICK = 50.0
static _CONST double	PUB_FREQ_MODE = 2.0
static _CONST double	PUB_FREQ_VEHICLE = 250.0
static _CONST double	RADIANS_PER_SECOND_MAX = 14000 * (2.0 * M_PI / (200 * 48.5 / 2))
static _CONST double	TORQUE_MAX_ALARM = 5.0
static _CONST double	TORQUE_MAX_GLOBAL = 50.0
static _CONST double	WHEEL_BASE_LENGTH = 0.505466
static _CONST double	WHEEL_BASE_WIDTH = 0.680466
static _CONST double	WHEEL_RADIUS = 8.0 / 2 * 0.0254
Protected Member Functions
virtual void	FiniChild ()
virtual void	UpdateChild (const common::UpdateInfo &_info)
Private Member Functions
void	omniFromCartesian (double vx, double vy, double wz, double w[4]) const
void	omniToCartesian (const double w[4], double vx, double vy, double *wz) const
void	publishMode (const ros::Time &stamp)
void	recvCmdVel (const geometry_msgs::Twist::ConstPtr &msg)
void	recvCmdVelRaw (const geometry_msgs::Twist::ConstPtr &msg)
void	recvSuppressWireless (const std_msgs::Empty::ConstPtr &msg)
void	spin ()
Static Private Member Functions
static double	limitDelta (double input, double previous, double limit)
static bool	omniSaturate (double limit, double speeds[4])
Private Attributes
std::string	child_frame_id_
math::Vector3	cmd_vel_
math::Vector3	cmd_vel_history_
boost::mutex	cmd_vel_mutex_
math::Vector3	cmd_vel_raw_
boost::mutex	cmd_vel_raw_mutex_
common::Time	cmd_vel_raw_stamp_
common::Time	cmd_vel_stamp_
bool	fast_
bool	first_update_
const char *	frame_id_
physics::JointPtr	joint_rollers_ [NUM_WHEELS][NUM_ROLLERS]
sensor_msgs::JointState	joint_state_rollers_
sensor_msgs::JointState	joint_state_wheels_
physics::JointPtr	joint_wheels_ [NUM_WHEELS]
physics::LinkPtr	link_base_footprint_
mobility_base_core_msgs::Mode::_mode_type	mode_
physics::ModelPtr	model_
ros::NodeHandle *	nh_
double	omni_a_
double	omni_b_
double	omni_c_
std::string	parent_frame_id_
PubMultiQueue	pmq_
PubQueue < mobility_base_core_msgs::BumperState > ::Ptr	pmq_bumper_states_
PubQueue< sensor_msgs::Imu >::Ptr	pmq_imu_data_
PubQueue< std_msgs::Bool >::Ptr	pmq_imu_is_calibrated_
PubQueue < sensor_msgs::MagneticField > ::Ptr	pmq_imu_mag_
PubQueue < sensor_msgs::JointState > ::Ptr	pmq_joint_states_
PubQueue < geometry_msgs::TwistStamped > ::Ptr	pmq_joystick_
PubQueue < mobility_base_core_msgs::Mode > ::Ptr	pmq_mode_
PubQueue < geometry_msgs::TwistStamped > ::Ptr	pmq_twist_
PubQueue < geometry_msgs::WrenchStamped > ::Ptr	pmq_wrench_
common::Time	previous_stamp_
ros::Publisher	pub_bumper_states_
ros::Publisher	pub_imu_data_
ros::Publisher	pub_imu_is_calibrated_
ros::Publisher	pub_imu_mag_
ros::Publisher	pub_joint_states_
ros::Publisher	pub_joystick_
ros::Publisher	pub_mode_
ros::Publisher	pub_twist_
ros::Publisher	pub_wrench_
boost::thread *	spinner_thread_
common::Time	stamp_bumpers_
common::Time	stamp_imu_
common::Time	stamp_joystick_
common::Time	stamp_mode_
common::Time	stamp_vehicle_
ros::Subscriber	sub_cmd_vel_
ros::Subscriber	sub_cmd_vel_raw_
tf::TransformBroadcaster *	tf_broadcaster_
event::ConnectionPtr	update_connection_
physics::WorldPtr	world_