controller::Wheel 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)
	Loads wheel's information from the xml description file and param server.
void	updatePosition ()
	Computes 2d postion of the wheel relative to the center of the base.
Public Attributes
int	direction_multiplier_
	specifies the default direction of the wheel
pr2_mechanism_model::JointState *	joint_
	JointState for this wheel joint.
std::string	joint_name_
	name of the joint
std::string	link_name_
	name of the link
geometry_msgs::Point	offset_
	default offset from the parent caster before any transformations
Caster *	parent_
	the caster on which this wheel is mounted
geometry_msgs::Point	position_
	offset_ after rotation transformation from the parent caster's position
double	wheel_radius_
	wheel radius scale (based on the default wheel radius in Basekinematics)
double	wheel_speed_actual_
	actual wheel speeds
double	wheel_speed_cmd_
	desired wheel speed
double	wheel_speed_error_
	difference between desired and actual speed
double	wheel_speed_filtered_
	wheel speed filtered with alpha
int	wheel_stuck_
	remembers if the wheel is stalled

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Detailed Description

Definition at line 56 of file base_kinematics.h.

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Member Function Documentation

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

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

Parameters:

robot_state	The robot's current state
config	Tiny xml element pointing to this wheel

Definition at line 44 of file base_kinematics.cpp.

void Wheel::updatePosition

(

)

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

Definition at line 195 of file base_kinematics.cpp.

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Member Data Documentation

int controller::Wheel::direction_multiplier_

specifies the default direction of the wheel

Definition at line 114 of file base_kinematics.h.

pr2_mechanism_model::JointState* controller::Wheel::joint_

JointState for this wheel joint.

Definition at line 63 of file base_kinematics.h.

std::string controller::Wheel::joint_name_

name of the joint

Definition at line 73 of file base_kinematics.h.

std::string controller::Wheel::link_name_

name of the link

Definition at line 78 of file base_kinematics.h.

geometry_msgs::Point controller::Wheel::offset_

default offset from the parent caster before any transformations

Definition at line 68 of file base_kinematics.h.

Caster* controller::Wheel::parent_

the caster on which this wheel is mounted

Definition at line 89 of file base_kinematics.h.

geometry_msgs::Point controller::Wheel::position_

offset_ after rotation transformation from the parent caster's position

Definition at line 84 of file base_kinematics.h.

double controller::Wheel::wheel_radius_

wheel radius scale (based on the default wheel radius in Basekinematics)

Definition at line 124 of file base_kinematics.h.

double controller::Wheel::wheel_speed_actual_

actual wheel speeds

Definition at line 94 of file base_kinematics.h.

double controller::Wheel::wheel_speed_cmd_

desired wheel speed

Definition at line 99 of file base_kinematics.h.

double controller::Wheel::wheel_speed_error_

difference between desired and actual speed

Definition at line 104 of file base_kinematics.h.

double controller::Wheel::wheel_speed_filtered_

wheel speed filtered with alpha

Definition at line 109 of file base_kinematics.h.

int controller::Wheel::wheel_stuck_

remembers if the wheel is stalled

Definition at line 119 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