Abstract class that provides motion controller abstraction. More...

Inheritance diagram for stdr_robot::MotionController:

Public Member Functions
virtual void	calculateMotion (const ros::TimerEvent &event)=0
	Pure virtual function - Calculates the motion - updates the robot pose.
geometry_msgs::Pose2D	getPose (void)
	Returns the pose calculated by the motion controller.
geometry_msgs::Twist	getVelocity ()
	Get the current velocity of the motion controller.
float	sampleNormal (float sigma)
	Approaches a normal distribution sampling.
virtual void	sampleVelocities (void)
	Virtual function - Add noise to velocity commands.
void	setPose (geometry_msgs::Pose2D new_pose)
	Sets the initial pose of the motion controller.
virtual void	stop (void)
	Virtual function - Stops the robot.
virtual void	velocityCallback (const geometry_msgs::Twist &msg)
	Virtual function - Callback for velocity commands.
virtual	~MotionController (void)
	Default desctructor.
Protected Member Functions
	MotionController (const geometry_msgs::Pose2D &pose, tf::TransformBroadcaster &tf, const std::string &name, ros::NodeHandle &n, const stdr_msgs::KinematicMsg params)
	Default constructor.
Protected Attributes
ros::Timer	_calcTimer
	Broadcaster of the robot tf transform.
geometry_msgs::Twist	_currentTwist
	The kinematic model parameters.
ros::Duration	_freq
	ROS timer for generating motion calculation events.
stdr_msgs::KinematicMsg	_motion_parameters
const std::string &	_namespace
	< The base of the frame_id
geometry_msgs::Pose2D	_pose
	Current motion command.
tf::TransformBroadcaster &	_tfBroadcaster
	Robot pose message.
ros::Subscriber	_velocitySubscrider
	Frequency of motion calculation.

Detailed Description

Abstract class that provides motion controller abstraction.

Definition at line 44 of file motion_controller_base.h.

Constructor & Destructor Documentation

virtual stdr_robot::MotionController::~MotionController ( void ) [inline, virtual]

Default desctructor.

Definition at line 161 of file motion_controller_base.h.

stdr_robot::MotionController::MotionController	(	const geometry_msgs::Pose2D &	pose,
		tf::TransformBroadcaster &	tf,
		const std::string &	name,
		ros::NodeHandle &	n,
		const stdr_msgs::KinematicMsg	params
	)		`[inline, protected]`

Default constructor.

Parameters:

pose	[const geometry_msgs::Pose2D&] The robot pose
tf	[tf::TransformBroadcaster&] A ROS tf broadcaster
name	[const std::string&] The robot frame id

Definition at line 191 of file motion_controller_base.h.

virtual void stdr_robot::MotionController::calculateMotion ( const ros::TimerEvent & event ) [pure virtual]

Pure virtual function - Calculates the motion - updates the robot pose.

Parameters:

event [const ros::TimerEvent&] A ROS timer event

geometry_msgs::Pose2D stdr_robot::MotionController::getPose ( void ) [inline]

Returns the pose calculated by the motion controller.

Definition at line 132 of file motion_controller_base.h.

geometry_msgs::Twist stdr_robot::MotionController::getVelocity ( ) [inline]

Get the current velocity of the motion controller.

Definition at line 153 of file motion_controller_base.h.

float stdr_robot::MotionController::sampleNormal ( float sigma ) [inline]

Approaches a normal distribution sampling.

Definition at line 170 of file motion_controller_base.h.

virtual void stdr_robot::MotionController::sampleVelocities ( void ) [inline, virtual]

Virtual function - Add noise to velocity commands.

Parameters:

msg	[geometry_msgs::Twist&] The velocity command

Returns:

void The formulas used are:

u_x' = u_x + Sample(a_ux_ux * u_x^2 + a_ux_uy * u_y^2 + a_ux_w * w^2)
u_y' = u_y + Sample(a_uy_ux * u_x^2 + a_uy_uy * u_y^2 + a_uy_w * w^2)
w' = w + Sample(a_w_ux * u_x^2 + a_w_uy * u_y^2 + a_w_w * w^2)
g' = Sample(a_g_ux * u_x^2 + a_g_uy * u_y^2 + a_g_w * w^2) Then w' is used as such (depending on the model): theta' = theta + (w' + g') * Dt Sample(b^2) produces samples from a normal distribution with variance equal to b^2.

Definition at line 75 of file motion_controller_base.h.

void stdr_robot::MotionController::setPose ( geometry_msgs::Pose2D new_pose ) [inline]

Sets the initial pose of the motion controller.

Parameters:

new_pose [geometry_msgs::Pose2D] The new pose