QuadrotorHandler Class Reference

#include <QuadrotorHandler.h>

Inheritance diagram for QuadrotorHandler:

List of all members.

Public Member Functions
unsigned int	getObjectType () const
void	handleSimulation ()
	QuadrotorHandler ()
void	synchronize ()
	~QuadrotorHandler ()
Protected Member Functions
void	_initialize ()
void	CommandsCallback (const sensor_msgs::JointStateConstPtr &msg)
Protected Attributes
std::vector< double >	_Commands
int	_handleOfCoM
int	_handleOfJoint [4]
simFloat	_jointPosition [4][3]
ros::Time	_lastPrintedMsg
simFloat	_lastPublishedStatusTime
sensor_msgs::JointState	_lastReceivedCmd
ros::Time	_lastReceivedCmdTime
double	_ObjStatusFrequency
ros::Publisher	_pubIMU
ros::Publisher	_pubPose
ros::Publisher	_pubTwist
simFloat	_quadrotorMass
ros::Subscriber	_sub
float	_torqueToForceRatio

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Detailed Description

Handler of a Quadrotor object.

Definition at line 13 of file QuadrotorHandler.h.

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Constructor & Destructor Documentation

QuadrotorHandler::QuadrotorHandler

(

)

Definition at line 18 of file QuadrotorHandler.cpp.

QuadrotorHandler::~QuadrotorHandler

(

)

Definition at line 32 of file QuadrotorHandler.cpp.

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Member Function Documentation

void QuadrotorHandler::_initialize

(

)

[protected, virtual]

Implements GenericObjectHandler.

Definition at line 252 of file QuadrotorHandler.cpp.

void QuadrotorHandler::CommandsCallback

(

const sensor_msgs::JointStateConstPtr &

msg

)

[protected]

Callback for command message reception.

Parameters:

msg	Received force command message.

Definition at line 355 of file QuadrotorHandler.cpp.

unsigned int QuadrotorHandler::getObjectType

(

)

const [virtual]

Implements GenericObjectHandler.

Definition at line 35 of file QuadrotorHandler.cpp.

void QuadrotorHandler::handleSimulation

(

)

[virtual]

Implements GenericObjectHandler.

Definition at line 69 of file QuadrotorHandler.cpp.

void QuadrotorHandler::synchronize

(

)

[virtual]

Reimplemented from GenericObjectHandler.

Definition at line 39 of file QuadrotorHandler.cpp.

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Member Data Documentation

std::vector<double> QuadrotorHandler::_Commands [protected]

Last received TKMotorCommands commands.

Definition at line 90 of file QuadrotorHandler.h.

int QuadrotorHandler::_handleOfCoM [protected]

Handle of the robot CoM.

Definition at line 40 of file QuadrotorHandler.h.

int QuadrotorHandler::_handleOfJoint[4] [protected]

Handles of the four propellers.

Definition at line 35 of file QuadrotorHandler.h.

simFloat QuadrotorHandler::_jointPosition[4][3] [protected]

Position of the four propellers w.r.t. the robot CoM.

Definition at line 50 of file QuadrotorHandler.h.

ros::Time QuadrotorHandler::_lastPrintedMsg [protected]

Timer for printing messages.

Definition at line 80 of file QuadrotorHandler.h.

simFloat QuadrotorHandler::_lastPublishedStatusTime [protected]

Time of the last Obj twist.

Definition at line 95 of file QuadrotorHandler.h.

sensor_msgs::JointState QuadrotorHandler::_lastReceivedCmd [protected]

Last received TKCommands message.

Definition at line 85 of file QuadrotorHandler.h.

ros::Time QuadrotorHandler::_lastReceivedCmdTime [protected]

Timer for received commands.

Definition at line 75 of file QuadrotorHandler.h.

double QuadrotorHandler::_ObjStatusFrequency [protected]

Obj twist frequency

Definition at line 101 of file QuadrotorHandler.h.

ros::Publisher QuadrotorHandler::_pubIMU [protected]

Publisher for the robot status.

Definition at line 65 of file QuadrotorHandler.h.

ros::Publisher QuadrotorHandler::_pubPose [protected]

Publisher for the robot status.

Definition at line 55 of file QuadrotorHandler.h.

ros::Publisher QuadrotorHandler::_pubTwist [protected]

Publisher for the robot status.

Definition at line 59 of file QuadrotorHandler.h.

simFloat QuadrotorHandler::_quadrotorMass [protected]

Handle of the robot CoM.

Definition at line 45 of file QuadrotorHandler.h.

ros::Subscriber QuadrotorHandler::_sub [protected]

Subscriber for force commands.

Definition at line 70 of file QuadrotorHandler.h.

float QuadrotorHandler::_torqueToForceRatio [protected]

Ratio between force ( ) and torque ( ) produced by the propeller, i.e.

Definition at line 30 of file QuadrotorHandler.h.

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

• QuadrotorHandler.h
• QuadrotorHandler.cpp