cob_tricycle_controller::OdometryController Class Reference

Inheritance diagram for cob_tricycle_controller::OdometryController:

Public Member Functions
virtual bool	init (hardware_interface::JointStateInterface *hw, ros::NodeHandle &nh)
	OdometryController ()
virtual bool	srv_reset (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
virtual void	starting (const ros::Time &time)
virtual void	stopping (const ros::Time &time)
virtual void	update (const ros::Time &time, const ros::Duration &period)
Public Member Functions inherited from controller_interface::Controller< hardware_interface::JointStateInterface >
	Controller ()
virtual bool	init (hardware_interface::JointStateInterface *, ros::NodeHandle &, ros::NodeHandle &)
virtual	~Controller ()
Public Member Functions inherited from controller_interface::ControllerBase
	ControllerBase ()
bool	isRunning ()
bool	isRunning ()
bool	startRequest (const ros::Time &time)
bool	startRequest (const ros::Time &time)
bool	stopRequest (const ros::Time &time)
bool	stopRequest (const ros::Time &time)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
virtual	~ControllerBase ()

Private Member Functions
void	publish (const ros::TimerEvent &)
void	updateState ()

Private Attributes
hardware_interface::JointStateHandle	drive_joint_
boost::mutex	mutex_
nav_msgs::Odometry	odom_
geometry_msgs::TransformStamped	odom_tf_
boost::scoped_ptr< OdometryTracker >	odom_tracker_
PlatformState	platform_state_
ros::Timer	publish_timer_
bool	reset_
ros::ServiceServer	service_reset_
hardware_interface::JointStateHandle	steer_joint_
ros::Time	stop_time_
boost::scoped_ptr< tf::TransformBroadcaster >	tf_broadcast_odometry_
ros::Publisher	topic_pub_odometry_
WheelState	wheel_state_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources
Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum controller_interface::ControllerBase:: { ... }	state_
Protected Member Functions inherited from controller_interface::Controller< hardware_interface::JointStateInterface >
std::string	getHardwareInterfaceType () const
virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)

Detailed Description

Definition at line 40 of file odom_plugin.cpp.

Constructor & Destructor Documentation

cob_tricycle_controller::OdometryController::OdometryController ( )

inline

Definition at line 43 of file odom_plugin.cpp.

Member Function Documentation

virtual bool cob_tricycle_controller::OdometryController::init ( hardware_interface::JointStateInterface *  hw, ros::NodeHandle &  nh  )

inlinevirtual

Reimplemented from controller_interface::Controller< hardware_interface::JointStateInterface >.

Definition at line 45 of file odom_plugin.cpp.

void cob_tricycle_controller::OdometryController::publish ( const ros::TimerEvent &  )

inlineprivate

Definition at line 171 of file odom_plugin.cpp.

virtual bool cob_tricycle_controller::OdometryController::srv_reset ( std_srvs::Trigger::Request &  req, std_srvs::Trigger::Response &  res  )

inlinevirtual

Definition at line 120 of file odom_plugin.cpp.

virtual void cob_tricycle_controller::OdometryController::starting ( const ros::Time &  time )

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 114 of file odom_plugin.cpp.

virtual void cob_tricycle_controller::OdometryController::stopping ( const ros::Time &  time )

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 151 of file odom_plugin.cpp.

virtual void cob_tricycle_controller::OdometryController::update ( const ros::Time &  time, const ros::Duration &  period  )

inlinevirtual

Implements controller_interface::ControllerBase.

Definition at line 136 of file odom_plugin.cpp.

void cob_tricycle_controller::OdometryController::updateState ( )

inlineprivate

Definition at line 192 of file odom_plugin.cpp.

Member Data Documentation

hardware_interface::JointStateHandle cob_tricycle_controller::OdometryController::drive_joint_

private

Definition at line 157 of file odom_plugin.cpp.

boost::mutex cob_tricycle_controller::OdometryController::mutex_

private

Definition at line 167 of file odom_plugin.cpp.

nav_msgs::Odometry cob_tricycle_controller::OdometryController::odom_

private

Definition at line 165 of file odom_plugin.cpp.

geometry_msgs::TransformStamped cob_tricycle_controller::OdometryController::odom_tf_

private

Definition at line 168 of file odom_plugin.cpp.

boost::scoped_ptr<OdometryTracker> cob_tricycle_controller::OdometryController::odom_tracker_

private

Definition at line 163 of file odom_plugin.cpp.

PlatformState cob_tricycle_controller::OdometryController::platform_state_

private

Definition at line 154 of file odom_plugin.cpp.

ros::Timer cob_tricycle_controller::OdometryController::publish_timer_

private

Definition at line 164 of file odom_plugin.cpp.

bool cob_tricycle_controller::OdometryController::reset_

private

Definition at line 166 of file odom_plugin.cpp.

ros::ServiceServer cob_tricycle_controller::OdometryController::service_reset_

private

Definition at line 160 of file odom_plugin.cpp.

hardware_interface::JointStateHandle cob_tricycle_controller::OdometryController::steer_joint_

private

Definition at line 156 of file odom_plugin.cpp.

ros::Time cob_tricycle_controller::OdometryController::stop_time_

private

Definition at line 169 of file odom_plugin.cpp.

boost::scoped_ptr<tf::TransformBroadcaster> cob_tricycle_controller::OdometryController::tf_broadcast_odometry_

private

Definition at line 162 of file odom_plugin.cpp.

ros::Publisher cob_tricycle_controller::OdometryController::topic_pub_odometry_

private

Definition at line 159 of file odom_plugin.cpp.

WheelState cob_tricycle_controller::OdometryController::wheel_state_

private

Definition at line 155 of file odom_plugin.cpp.

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

• odom_plugin.cpp