Public Member Functions | |
bool | init (QuadrotorInterface *interface, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) |
void | poseCommandCallback (const geometry_msgs::PoseStampedConstPtr &command) |
PoseController () | |
void | reset () |
void | starting (const ros::Time &time) |
void | stopping (const ros::Time &time) |
void | twistCommandCallback (const geometry_msgs::TwistStampedConstPtr &command) |
void | update (const ros::Time &time, const ros::Duration &period) |
~PoseController () | |
Public Member Functions inherited from controller_interface::Controller< QuadrotorInterface > | |
Controller () | |
virtual bool | init (QuadrotorInterface *, ros::NodeHandle &) |
virtual bool | init (QuadrotorInterface *, 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 Attributes | |
ros::NodeHandle | node_handle_ |
struct { | |
PID x | |
PID y | |
PID yaw | |
PID z | |
} | pid_ |
PoseHandlePtr | pose_ |
geometry_msgs::PoseStamped | pose_command_ |
PoseCommandHandlePtr | pose_input_ |
ros::Subscriber | pose_subscriber_ |
TwistHandlePtr | twist_ |
geometry_msgs::TwistStamped | twist_command_ |
TwistCommandHandlePtr | twist_input_ |
TwistCommandHandlePtr | twist_limit_ |
TwistCommandHandlePtr | twist_output_ |
ros::Subscriber | twist_subscriber_ |
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< QuadrotorInterface > | |
std::string | getHardwareInterfaceType () const |
virtual bool | initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) |
Definition at line 44 of file pose_controller.cpp.
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inline |
Definition at line 47 of file pose_controller.cpp.
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inline |
Definition at line 49 of file pose_controller.cpp.
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inline |
Definition at line 51 of file pose_controller.cpp.
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inline |
Definition at line 85 of file pose_controller.cpp.
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inline |
Definition at line 77 of file pose_controller.cpp.
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inlinevirtual |
Reimplemented from controller_interface::ControllerBase.
Definition at line 107 of file pose_controller.cpp.
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inlinevirtual |
Reimplemented from controller_interface::ControllerBase.
Definition at line 113 of file pose_controller.cpp.
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inline |
Definition at line 96 of file pose_controller.cpp.
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inlinevirtual |
Implements controller_interface::ControllerBase.
Definition at line 118 of file pose_controller.cpp.
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private |
Definition at line 189 of file pose_controller.cpp.
struct { ... } hector_quadrotor_controller::PoseController::pid_ |
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private |
Definition at line 179 of file pose_controller.cpp.
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private |
Definition at line 186 of file pose_controller.cpp.
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private |
Definition at line 180 of file pose_controller.cpp.
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private |
Definition at line 190 of file pose_controller.cpp.
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private |
Definition at line 181 of file pose_controller.cpp.
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private |
Definition at line 187 of file pose_controller.cpp.
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private |
Definition at line 182 of file pose_controller.cpp.
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private |
Definition at line 183 of file pose_controller.cpp.
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private |
Definition at line 184 of file pose_controller.cpp.
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private |
Definition at line 191 of file pose_controller.cpp.
PID hector_quadrotor_controller::PoseController::x |
Definition at line 194 of file pose_controller.cpp.
PID hector_quadrotor_controller::PoseController::y |
Definition at line 195 of file pose_controller.cpp.
PID hector_quadrotor_controller::PoseController::yaw |
Definition at line 197 of file pose_controller.cpp.
PID hector_quadrotor_controller::PoseController::z |
Definition at line 196 of file pose_controller.cpp.