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::JointState *	joint_
	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
BaseKinematics *	parent_
	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

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Detailed Description

Definition at line 142 of file base_kinematics.h.

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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.

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Member Data Documentation

double controller::Caster::caster_position_error_

difference between desired and actual angles of the casters

Definition at line 201 of file base_kinematics.h.

double controller::Caster::caster_speed_

remembers the caster's current speed

Definition at line 216 of file base_kinematics.h.

double controller::Caster::caster_speed_error_

difference between desired and actual speeds of the casters

Definition at line 206 of file base_kinematics.h.

double controller::Caster::caster_speed_filtered_

caster speed filtered with alpha

Definition at line 211 of file base_kinematics.h.

int controller::Caster::caster_stuck_

remembers if the caster is stalled

Definition at line 221 of file base_kinematics.h.

pr2_mechanism_model::JointState* controller::Caster::joint_

JointState for this caster joint.

Definition at line 149 of file base_kinematics.h.

std::string controller::Caster::joint_name_

name of the joint

Definition at line 164 of file base_kinematics.h.

std::string controller::Caster::link_name_

name of the link

Definition at line 159 of file base_kinematics.h.

int controller::Caster::num_children_

the number of child wheels that are attached to this caster

Definition at line 176 of file base_kinematics.h.

geometry_msgs::Point controller::Caster::offset_

offset from the center of the base

Definition at line 154 of file base_kinematics.h.

BaseKinematics* controller::Caster::parent_

BaseKinematics to which this caster belongs.

Definition at line 171 of file base_kinematics.h.

double controller::Caster::steer_angle_actual_

actual caster steer angles

Definition at line 181 of file base_kinematics.h.

double controller::Caster::steer_angle_desired_

actual caster steer angles

Definition at line 186 of file base_kinematics.h.

double controller::Caster::steer_angle_stored_

stored caster steer angles

Definition at line 196 of file base_kinematics.h.

double controller::Caster::steer_velocity_desired_

vector of desired caster steer speeds

Definition at line 191 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