cob_tricycle_controller::WheelController Class Reference

Inheritance diagram for cob_tricycle_controller::WheelController:

Classes
struct	Target

Public Member Functions
virtual bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &nh)
virtual void	starting (const ros::Time &time)
virtual void	update (const ros::Time &time, const ros::Duration &period)
Public Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &, ros::NodeHandle &)
	MultiInterfaceController (bool allow_optional_interfaces=false)
virtual	~MultiInterfaceController ()
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)
virtual void	stopping (const ros::Time &)
virtual void	stopping (const ros::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	topicCallbackTwistCmd (const geometry_msgs::Twist::ConstPtr &msg)
void	updateCommand ()

Private Attributes
boost::scoped_ptr< realtime_tools::RealtimePublisher< cob_base_controller_utils::WheelCommands > >	commands_pub_
uint32_t	cycles_
hardware_interface::JointHandle	drive_joint_
double	max_drive_rate_
double	max_steer_rate_
double	max_vel_rot_
double	max_vel_trans_
boost::mutex	mutex_
uint32_t	pub_divider_
hardware_interface::JointHandle	steer_joint_
struct cob_tricycle_controller::WheelController::Target	target_
ros::Duration	timeout_
ros::Subscriber	twist_subscriber_
WheelState	wheel_command_
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::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface >
virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)
Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface >
static void	clearClaims (hardware_interface::RobotHW *robot_hw)
static void	extractInterfaceResources (hardware_interface::RobotHW *robot_hw_in, hardware_interface::RobotHW *robot_hw_out)
static bool	hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)
static void	populateClaimedResources (hardware_interface::RobotHW *robot_hw, ClaimedResources &claimed_resources)
Protected Attributes inherited from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface >
bool	allow_optional_interfaces_
hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Definition at line 50 of file control_plugin.cpp.

Member Function Documentation

virtual bool cob_tricycle_controller::WheelController::init ( hardware_interface::RobotHW *  robot_hw, ros::NodeHandle &  nh  )

inlinevirtual

Reimplemented from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface >.

Definition at line 53 of file control_plugin.cpp.

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

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 128 of file control_plugin.cpp.

void cob_tricycle_controller::WheelController::topicCallbackTwistCmd ( const geometry_msgs::Twist::ConstPtr &  msg )

inlineprivate

Definition at line 193 of file control_plugin.cpp.

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

inlinevirtual

Implements controller_interface::ControllerBase.

Definition at line 132 of file control_plugin.cpp.

void cob_tricycle_controller::WheelController::updateCommand ( )

inlineprivate

Definition at line 209 of file control_plugin.cpp.

Member Data Documentation

boost::scoped_ptr<realtime_tools::RealtimePublisher<cob_base_controller_utils::WheelCommands> > cob_tricycle_controller::WheelController::commands_pub_

private

Definition at line 185 of file control_plugin.cpp.

uint32_t cob_tricycle_controller::WheelController::cycles_

private

Definition at line 186 of file control_plugin.cpp.

hardware_interface::JointHandle cob_tricycle_controller::WheelController::drive_joint_

private

Definition at line 180 of file control_plugin.cpp.

double cob_tricycle_controller::WheelController::max_drive_rate_

private

Definition at line 191 of file control_plugin.cpp.

double cob_tricycle_controller::WheelController::max_steer_rate_

private

Definition at line 191 of file control_plugin.cpp.

double cob_tricycle_controller::WheelController::max_vel_rot_

private

Definition at line 190 of file control_plugin.cpp.

double cob_tricycle_controller::WheelController::max_vel_trans_

private

Definition at line 190 of file control_plugin.cpp.

boost::mutex cob_tricycle_controller::WheelController::mutex_

private

Definition at line 182 of file control_plugin.cpp.

uint32_t cob_tricycle_controller::WheelController::pub_divider_

private

Definition at line 187 of file control_plugin.cpp.

hardware_interface::JointHandle cob_tricycle_controller::WheelController::steer_joint_

private

Definition at line 179 of file control_plugin.cpp.

struct cob_tricycle_controller::WheelController::Target cob_tricycle_controller::WheelController::target_

private

ros::Duration cob_tricycle_controller::WheelController::timeout_

private

Definition at line 189 of file control_plugin.cpp.

ros::Subscriber cob_tricycle_controller::WheelController::twist_subscriber_

private

Definition at line 183 of file control_plugin.cpp.

WheelState cob_tricycle_controller::WheelController::wheel_command_

private

Definition at line 178 of file control_plugin.cpp.

WheelState cob_tricycle_controller::WheelController::wheel_state_

private

Definition at line 177 of file control_plugin.cpp.

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

• control_plugin.cpp