NodeClass Class Reference

Public Member Functions
void	CalcCtrlStep ()
void	diag_init (diagnostic_updater::DiagnosticStatusWrapper &stat)
bool	InitCtrl ()
	NodeClass ()
void	timerCallbackCtrlStep (const ros::TimerEvent &e)
void	topicCallbackDiagnostic (const diagnostic_msgs::DiagnosticStatus::ConstPtr &msg)
void	topicCallbackEMStop (const cob_msgs::EmergencyStopState::ConstPtr &msg)
void	topicCallbackJointControllerStates (const control_msgs::JointTrajectoryControllerState::ConstPtr &msg)
void	topicCallbackTwistCmd (const geometry_msgs::Twist::ConstPtr &msg)
void	UpdateOdometry ()
	~NodeClass ()

Public Attributes
bool	broadcast_tf_
diagnostic_msgs::DiagnosticStatus	diagnostic_status_lookup_
int	drive_chain_diagnostic_
bool	is_initialized_bool_
int	iwatchdog_
ros::Time	joint_state_odom_stamp_
ros::Time	last_time_
int	m_iNumJoints
double	max_vel_rot_
double	max_vel_trans_
ros::NodeHandle	n
double	sample_time_
std::string	sIniDirectory
tf::TransformBroadcaster	tf_broadcast_odometry_
double	theta_rob_rad_
double	timeout_
ros::Timer	timer_ctrl_step_
ros::Publisher	topic_pub_controller_joint_command_
ros::Publisher	topic_pub_joint_state_cmd_
ros::Publisher	topic_pub_odometry_
ros::Subscriber	topic_sub_CMD_pltf_twist_
ros::Subscriber	topic_sub_drive_diagnostic_
ros::Subscriber	topic_sub_EM_stop_state_
ros::Subscriber	topic_sub_joint_controller_states_
UndercarriageCtrlGeom *	ucar_ctrl_
diagnostic_updater::Updater	updater_
double	vel_theta_rob_last_
double	vel_x_rob_last_
double	vel_y_rob_last_
double	x_rob_m_
double	y_rob_m_

Detailed Description

Definition at line 43 of file cob_undercarriage_ctrl.cpp.

Constructor & Destructor Documentation

NodeClass::NodeClass ( )

inline

Definition at line 90 of file cob_undercarriage_ctrl.cpp.

NodeClass::~NodeClass ( )

inline

Definition at line 196 of file cob_undercarriage_ctrl.cpp.

Member Function Documentation

void NodeClass::CalcCtrlStep

(

)

Definition at line 518 of file cob_undercarriage_ctrl.cpp.

void NodeClass::diag_init ( diagnostic_updater::DiagnosticStatusWrapper &  stat )

inline

Definition at line 200 of file cob_undercarriage_ctrl.cpp.

bool NodeClass::InitCtrl

(

)

void NodeClass::timerCallbackCtrlStep ( const ros::TimerEvent &  e )

inline

Definition at line 467 of file cob_undercarriage_ctrl.cpp.

void NodeClass::topicCallbackDiagnostic ( const diagnostic_msgs::DiagnosticStatus::ConstPtr &  msg )

inline

Definition at line 309 of file cob_undercarriage_ctrl.cpp.

void NodeClass::topicCallbackEMStop ( const cob_msgs::EmergencyStopState::ConstPtr &  msg )

inline

Definition at line 278 of file cob_undercarriage_ctrl.cpp.

void NodeClass::topicCallbackJointControllerStates ( const control_msgs::JointTrajectoryControllerState::ConstPtr &  msg )

inline

Definition at line 380 of file cob_undercarriage_ctrl.cpp.

void NodeClass::topicCallbackTwistCmd ( const geometry_msgs::Twist::ConstPtr &  msg )

inline

Definition at line 210 of file cob_undercarriage_ctrl.cpp.

void NodeClass::UpdateOdometry

(

)

Definition at line 609 of file cob_undercarriage_ctrl.cpp.

Member Data Documentation

bool NodeClass::broadcast_tf_

Definition at line 75 of file cob_undercarriage_ctrl.cpp.

diagnostic_msgs::DiagnosticStatus NodeClass::diagnostic_status_lookup_

Definition at line 87 of file cob_undercarriage_ctrl.cpp.

int NodeClass::drive_chain_diagnostic_

Definition at line 76 of file cob_undercarriage_ctrl.cpp.

bool NodeClass::is_initialized_bool_

Definition at line 74 of file cob_undercarriage_ctrl.cpp.

int NodeClass::iwatchdog_

Definition at line 81 of file cob_undercarriage_ctrl.cpp.

ros::Time NodeClass::joint_state_odom_stamp_

Definition at line 78 of file cob_undercarriage_ctrl.cpp.

ros::Time NodeClass::last_time_

Definition at line 77 of file cob_undercarriage_ctrl.cpp.

int NodeClass::m_iNumJoints

Definition at line 85 of file cob_undercarriage_ctrl.cpp.

double NodeClass::max_vel_rot_

Definition at line 83 of file cob_undercarriage_ctrl.cpp.

double NodeClass::max_vel_trans_

Definition at line 83 of file cob_undercarriage_ctrl.cpp.

ros::NodeHandle NodeClass::n

Definition at line 48 of file cob_undercarriage_ctrl.cpp.

double NodeClass::sample_time_

Definition at line 79 of file cob_undercarriage_ctrl.cpp.

std::string NodeClass::sIniDirectory

Definition at line 73 of file cob_undercarriage_ctrl.cpp.

tf::TransformBroadcaster NodeClass::tf_broadcast_odometry_

Definition at line 54 of file cob_undercarriage_ctrl.cpp.

double NodeClass::theta_rob_rad_

Definition at line 80 of file cob_undercarriage_ctrl.cpp.

double NodeClass::timeout_

Definition at line 79 of file cob_undercarriage_ctrl.cpp.

ros::Timer NodeClass::timer_ctrl_step_

Definition at line 69 of file cob_undercarriage_ctrl.cpp.

ros::Publisher NodeClass::topic_pub_controller_joint_command_

Definition at line 52 of file cob_undercarriage_ctrl.cpp.

ros::Publisher NodeClass::topic_pub_joint_state_cmd_

Definition at line 51 of file cob_undercarriage_ctrl.cpp.

ros::Publisher NodeClass::topic_pub_odometry_

Definition at line 53 of file cob_undercarriage_ctrl.cpp.

ros::Subscriber NodeClass::topic_sub_CMD_pltf_twist_

Definition at line 57 of file cob_undercarriage_ctrl.cpp.

ros::Subscriber NodeClass::topic_sub_drive_diagnostic_

Definition at line 59 of file cob_undercarriage_ctrl.cpp.

ros::Subscriber NodeClass::topic_sub_EM_stop_state_

Definition at line 58 of file cob_undercarriage_ctrl.cpp.

ros::Subscriber NodeClass::topic_sub_joint_controller_states_

Definition at line 63 of file cob_undercarriage_ctrl.cpp.

UndercarriageCtrlGeom* NodeClass::ucar_ctrl_

Definition at line 72 of file cob_undercarriage_ctrl.cpp.

diagnostic_updater::Updater NodeClass::updater_

Definition at line 66 of file cob_undercarriage_ctrl.cpp.

double NodeClass::vel_theta_rob_last_

Definition at line 82 of file cob_undercarriage_ctrl.cpp.

double NodeClass::vel_x_rob_last_

Definition at line 82 of file cob_undercarriage_ctrl.cpp.

double NodeClass::vel_y_rob_last_

Definition at line 82 of file cob_undercarriage_ctrl.cpp.

double NodeClass::x_rob_m_

Definition at line 80 of file cob_undercarriage_ctrl.cpp.

double NodeClass::y_rob_m_

Definition at line 80 of file cob_undercarriage_ctrl.cpp.

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

• cob_undercarriage_ctrl.cpp