#include <TwistControllerNode.h>

Public Member Functions
	TwistControllerNode (ros::NodeHandle &n, ros::NodeHandle &pn)

Private Member Functions
void	controlCallback (const ros::TimerEvent &event)

void	reconfig (ControllerConfig &config, uint32_t level)

void	recvEnable (const std_msgs::Bool::ConstPtr &msg)

void	recvFuel (const dbw_mkz_msgs::FuelLevelReport::ConstPtr &msg)

void	recvImu (const sensor_msgs::Imu::ConstPtr &msg)

void	recvSteeringReport (const dbw_mkz_msgs::SteeringReport::ConstPtr &msg)

void	recvTwist (const geometry_msgs::Twist::ConstPtr &msg)

void	recvTwist2 (const dbw_mkz_msgs::TwistCmd::ConstPtr &msg)

void	recvTwist3 (const geometry_msgs::TwistStamped::ConstPtr &msg)

Static Private Member Functions
static double	mphToMps (double mph)

Private Attributes
PidControl	accel_pid_

double	acker_track_

double	acker_wheelbase_

geometry_msgs::Twist	actual_

ControllerConfig	cfg_

ros::Time	cmd_stamp_

dbw_mkz_msgs::TwistCmd	cmd_vel_

double	control_period_

ros::Timer	control_timer_

LowPass	lpf_accel_

LowPass	lpf_fuel_

ros::Publisher	pub_accel_

ros::Publisher	pub_brake_

ros::Publisher	pub_req_accel_

ros::Publisher	pub_steering_

ros::Publisher	pub_throttle_

PidControl	speed_pid_

dynamic_reconfigure::Server< ControllerConfig >	srv_

double	steering_ratio_

ros::Subscriber	sub_enable_

ros::Subscriber	sub_fuel_level_

ros::Subscriber	sub_imu_

ros::Subscriber	sub_steering_

ros::Subscriber	sub_twist2_

ros::Subscriber	sub_twist3_

ros::Subscriber	sub_twist_

bool	sys_enable_

YawControl	yaw_control_

Detailed Description

Definition at line 68 of file TwistControllerNode.h.

Constructor & Destructor Documentation

dbw_mkz_twist_controller::TwistControllerNode::TwistControllerNode	(	ros::NodeHandle &	n,
		ros::NodeHandle &	pn
	)

Definition at line 39 of file TwistControllerNode.cpp.

Member Function Documentation

void dbw_mkz_twist_controller::TwistControllerNode::controlCallback ( const ros::TimerEvent & event )

private

Definition at line 84 of file TwistControllerNode.cpp.

static double dbw_mkz_twist_controller::TwistControllerNode::mphToMps ( double mph )

inlinestaticprivate

Definition at line 115 of file TwistControllerNode.h.

void dbw_mkz_twist_controller::TwistControllerNode::reconfig	(	ControllerConfig &	config,
		uint32_t	level
	)

private

Definition at line 154 of file TwistControllerNode.cpp.

void dbw_mkz_twist_controller::TwistControllerNode::recvEnable ( const std_msgs::Bool::ConstPtr & msg )

private

Definition at line 210 of file TwistControllerNode.cpp.

void dbw_mkz_twist_controller::TwistControllerNode::recvFuel ( const dbw_mkz_msgs::FuelLevelReport::ConstPtr & msg )

private

Definition at line 188 of file TwistControllerNode.cpp.

void dbw_mkz_twist_controller::TwistControllerNode::recvImu ( const sensor_msgs::Imu::ConstPtr & msg )

private

Definition at line 205 of file TwistControllerNode.cpp.

void dbw_mkz_twist_controller::TwistControllerNode::recvSteeringReport ( const dbw_mkz_msgs::SteeringReport::ConstPtr & msg )

private

Definition at line 193 of file TwistControllerNode.cpp.

void dbw_mkz_twist_controller::TwistControllerNode::recvTwist ( const geometry_msgs::Twist::ConstPtr & msg )

private

Definition at line 166 of file TwistControllerNode.cpp.

void dbw_mkz_twist_controller::TwistControllerNode::recvTwist2 ( const dbw_mkz_msgs::TwistCmd::ConstPtr & msg )

private

Definition at line 174 of file TwistControllerNode.cpp.

void dbw_mkz_twist_controller::TwistControllerNode::recvTwist3 ( const geometry_msgs::TwistStamped::ConstPtr & msg )

private

Definition at line 180 of file TwistControllerNode.cpp.

Member Data Documentation

PidControl dbw_mkz_twist_controller::TwistControllerNode::accel_pid_

private

Definition at line 102 of file TwistControllerNode.h.

double dbw_mkz_twist_controller::TwistControllerNode::acker_track_

private

Definition at line 112 of file TwistControllerNode.h.

double dbw_mkz_twist_controller::TwistControllerNode::acker_wheelbase_

private

Definition at line 111 of file TwistControllerNode.h.

geometry_msgs::Twist dbw_mkz_twist_controller::TwistControllerNode::actual_

private

Definition at line 97 of file TwistControllerNode.h.

ControllerConfig dbw_mkz_twist_controller::TwistControllerNode::cfg_

private

Definition at line 106 of file TwistControllerNode.h.

ros::Time dbw_mkz_twist_controller::TwistControllerNode::cmd_stamp_

private

Definition at line 98 of file TwistControllerNode.h.

dbw_mkz_msgs::TwistCmd dbw_mkz_twist_controller::TwistControllerNode::cmd_vel_

private

Definition at line 96 of file TwistControllerNode.h.

double dbw_mkz_twist_controller::TwistControllerNode::control_period_

private

Definition at line 110 of file TwistControllerNode.h.

ros::Timer dbw_mkz_twist_controller::TwistControllerNode::control_timer_

private

Definition at line 94 of file TwistControllerNode.h.

LowPass dbw_mkz_twist_controller::TwistControllerNode::lpf_accel_

private

Definition at line 104 of file TwistControllerNode.h.

LowPass dbw_mkz_twist_controller::TwistControllerNode::lpf_fuel_

private

Definition at line 105 of file TwistControllerNode.h.

ros::Publisher dbw_mkz_twist_controller::TwistControllerNode::pub_accel_

private

Definition at line 85 of file TwistControllerNode.h.

ros::Publisher dbw_mkz_twist_controller::TwistControllerNode::pub_brake_

private

Definition at line 83 of file TwistControllerNode.h.

ros::Publisher dbw_mkz_twist_controller::TwistControllerNode::pub_req_accel_

private

Definition at line 86 of file TwistControllerNode.h.

ros::Publisher dbw_mkz_twist_controller::TwistControllerNode::pub_steering_

private

Definition at line 84 of file TwistControllerNode.h.

ros::Publisher dbw_mkz_twist_controller::TwistControllerNode::pub_throttle_

private

Definition at line 82 of file TwistControllerNode.h.

PidControl dbw_mkz_twist_controller::TwistControllerNode::speed_pid_

private

Definition at line 101 of file TwistControllerNode.h.

dynamic_reconfigure::Server<ControllerConfig> dbw_mkz_twist_controller::TwistControllerNode::srv_

private

Definition at line 99 of file TwistControllerNode.h.

double dbw_mkz_twist_controller::TwistControllerNode::steering_ratio_

private

Definition at line 113 of file TwistControllerNode.h.

ros::Subscriber dbw_mkz_twist_controller::TwistControllerNode::sub_enable_

private

Definition at line 89 of file TwistControllerNode.h.

ros::Subscriber dbw_mkz_twist_controller::TwistControllerNode::sub_fuel_level_

private

Definition at line 93 of file TwistControllerNode.h.

ros::Subscriber dbw_mkz_twist_controller::TwistControllerNode::sub_imu_

private

Definition at line 88 of file TwistControllerNode.h.

ros::Subscriber dbw_mkz_twist_controller::TwistControllerNode::sub_steering_

private

Definition at line 87 of file TwistControllerNode.h.

ros::Subscriber dbw_mkz_twist_controller::TwistControllerNode::sub_twist2_

private

Definition at line 91 of file TwistControllerNode.h.

ros::Subscriber dbw_mkz_twist_controller::TwistControllerNode::sub_twist3_

private

Definition at line 92 of file TwistControllerNode.h.

ros::Subscriber dbw_mkz_twist_controller::TwistControllerNode::sub_twist_

private

Definition at line 90 of file TwistControllerNode.h.

bool dbw_mkz_twist_controller::TwistControllerNode::sys_enable_

private

Definition at line 107 of file TwistControllerNode.h.

YawControl dbw_mkz_twist_controller::TwistControllerNode::yaw_control_

private

Definition at line 103 of file TwistControllerNode.h.

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

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation