Public Member Functions | Public Attributes
controller::Caster Class Reference

#include <base_kinematics.h>

List of all members.

Public Member Functions

bool init (pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node, std::string link_name)

Public Attributes

double caster_position_error_
 difference between desired and actual angles of the casters
double caster_speed_
 remembers the caster's current speed
double caster_speed_error_
 difference between desired and actual speeds of the casters
double caster_speed_filtered_
 caster speed filtered with alpha
int caster_stuck_
 remembers if the caster is stalled
pr2_mechanism_model::JointStatejoint_
 JointState for this caster joint.
std::string joint_name_
 name of the joint
std::string link_name_
 name of the link
int num_children_
 the number of child wheels that are attached to this caster
geometry_msgs::Point offset_
 offset from the center of the base
BaseKinematicsparent_
 BaseKinematics to which this caster belongs.
double steer_angle_actual_
 actual caster steer angles
double steer_angle_desired_
 actual caster steer angles
double steer_angle_stored_
 stored caster steer angles
double steer_velocity_desired_
 vector of desired caster steer speeds

Detailed Description

Definition at line 142 of file base_kinematics.h.


Member Function Documentation

bool Caster::init ( pr2_mechanism_model::RobotState robot_state,
ros::NodeHandle node,
std::string  link_name 
)

Definition at line 96 of file base_kinematics.cpp.


Member Data Documentation

difference between desired and actual angles of the casters

Definition at line 201 of file base_kinematics.h.

remembers the caster's current speed

Definition at line 216 of file base_kinematics.h.

difference between desired and actual speeds of the casters

Definition at line 206 of file base_kinematics.h.

caster speed filtered with alpha

Definition at line 211 of file base_kinematics.h.

remembers if the caster is stalled

Definition at line 221 of file base_kinematics.h.

JointState for this caster joint.

Definition at line 149 of file base_kinematics.h.

name of the joint

Definition at line 164 of file base_kinematics.h.

name of the link

Definition at line 159 of file base_kinematics.h.

the number of child wheels that are attached to this caster

Definition at line 176 of file base_kinematics.h.

offset from the center of the base

Definition at line 154 of file base_kinematics.h.

BaseKinematics to which this caster belongs.

Definition at line 171 of file base_kinematics.h.

actual caster steer angles

Definition at line 181 of file base_kinematics.h.

actual caster steer angles

Definition at line 186 of file base_kinematics.h.

stored caster steer angles

Definition at line 196 of file base_kinematics.h.

vector of desired caster steer speeds

Definition at line 191 of file base_kinematics.h.


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


pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Sat Jun 8 2019 20:49:34