controller::BaseKinematics Class Reference

#include <base_kinematics.h>

List of all members.

Public Member Functions
void	computeWheelPositions ()
	Computes 2d postion of every wheel relative to the center of the base.
bool	init (pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node)
	Loads BaseKinematic's information from the xml description file and param server.
geometry_msgs::Twist	pointVel2D (const geometry_msgs::Point &pos, const geometry_msgs::Twist &vel)
	Computes 2d velocity of a point at relative distance pos to another point with velocity (and rotation (z)) vel.
Public Attributes
std::vector< Caster >	caster_
	vector of every caster attached to the base
double	MAX_DT_
	maximum dT used in computation of interpolated velocity command
std::string	name_
	name of this BaseKinematics (generally associated with whatever controller is using it)
int	num_casters_
	number of casters connected to the base
int	num_wheels_
	number of wheels connected to the base
std::string	robot_base_id_
	Name(string id) of the robot base frame.
pr2_mechanism_model::RobotState *	robot_state_
	remembers everything about the state of the robot
std::vector< Wheel >	wheel_
	vector of every wheel attached to the base
std::string	xml_caster_name_
	the name of the casters in the xml file
std::string	xml_wheel_name_
	the name of the wheels in the xml file

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Detailed Description

Definition at line 229 of file base_kinematics.h.

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Member Function Documentation

void BaseKinematics::computeWheelPositions

(

)

Computes 2d postion of every wheel relative to the center of the base.

Definition at line 206 of file base_kinematics.cpp.

bool BaseKinematics::init	(	pr2_mechanism_model::RobotState *	robot_state,
		ros::NodeHandle &	node
	)

Loads BaseKinematic's information from the xml description file and param server.

Parameters:

robot_state	The robot's current state
config	Tiny xml element pointing to its controller

Returns:

Successful init

Definition at line 144 of file base_kinematics.cpp.

geometry_msgs::Twist BaseKinematics::pointVel2D	(	const geometry_msgs::Point &	pos,
		const geometry_msgs::Twist &	vel
	)

Computes 2d velocity of a point at relative distance pos to another point with velocity (and rotation (z)) vel.

Parameters:

pos	The position of the object relative to the center of rotation
vel	Velocity of the center of rotation

Returns:

Velocity at the given point

Definition at line 215 of file base_kinematics.cpp.

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Member Data Documentation

std::vector<Caster> controller::BaseKinematics::caster_

vector of every caster attached to the base

Definition at line 277 of file base_kinematics.h.

double controller::BaseKinematics::MAX_DT_

maximum dT used in computation of interpolated velocity command

Definition at line 297 of file base_kinematics.h.

std::string controller::BaseKinematics::name_

name of this BaseKinematics (generally associated with whatever controller is using it)

Definition at line 292 of file base_kinematics.h.

int controller::BaseKinematics::num_casters_

number of casters connected to the base

Definition at line 267 of file base_kinematics.h.

int controller::BaseKinematics::num_wheels_

number of wheels connected to the base

Definition at line 262 of file base_kinematics.h.

std::string controller::BaseKinematics::robot_base_id_

Name(string id) of the robot base frame.

Definition at line 302 of file base_kinematics.h.

pr2_mechanism_model::RobotState* controller::BaseKinematics::robot_state_

remembers everything about the state of the robot

Definition at line 257 of file base_kinematics.h.

std::vector<Wheel> controller::BaseKinematics::wheel_

vector of every wheel attached to the base

Definition at line 272 of file base_kinematics.h.

std::string controller::BaseKinematics::xml_caster_name_

the name of the casters in the xml file

Definition at line 282 of file base_kinematics.h.

std::string controller::BaseKinematics::xml_wheel_name_

the name of the wheels in the xml file

Definition at line 287 of file base_kinematics.h.

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

• base_kinematics.h
• base_kinematics.cpp