Inheritance diagram for hector_quadrotor_controller::TwistController:

Public Member Functions
void	cmd_velCommandCallback (const geometry_msgs::TwistConstPtr &command)

bool	engageCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	init (QuadrotorInterface *interface, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)

void	reset ()

bool	shutdownCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

void	starting (const ros::Time &time)

void	stopping (const ros::Time &time)

void	twistCommandCallback (const geometry_msgs::TwistStampedConstPtr &command)

	TwistController ()

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

	~TwistController ()

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
AccelerationHandlePtr	acceleration_

bool	auto_engage_

std::string	base_link_frame_

ros::Subscriber	cmd_vel_subscriber_

geometry_msgs::TwistStamped	command_

bool	command_given_in_stabilized_frame_

boost::mutex	command_mutex_

ros::ServiceServer	engage_service_server_

double	inertia_ [3]

geometry_msgs::Wrench	limits_

double	linear_z_control_error_

double	load_factor_limit

double	mass_

bool	motors_running_

ros::NodeHandle	node_handle_

struct {
struct {
PID x

PID y

PID z

} angular

struct {
PID x

PID y

PID z

} linear

}	pid_

PoseHandlePtr	pose_

ros::ServiceServer	shutdown_service_server_

TwistHandlePtr	twist_

TwistCommandHandlePtr	twist_input_

ros::Subscriber	twist_subscriber_

geometry_msgs::WrenchStamped	wrench_

WrenchCommandHandlePtr	wrench_output_

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)

Detailed Description

Definition at line 49 of file twist_controller.cpp.

Constructor & Destructor Documentation

hector_quadrotor_controller::TwistController::TwistController ( )

inline

Definition at line 52 of file twist_controller.cpp.

hector_quadrotor_controller::TwistController::~TwistController ( )

inline

Definition at line 55 of file twist_controller.cpp.

Member Function Documentation

void hector_quadrotor_controller::TwistController::cmd_velCommandCallback ( const geometry_msgs::TwistConstPtr & command )

inline

Definition at line 133 of file twist_controller.cpp.

bool hector_quadrotor_controller::TwistController::engageCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

inline

Definition at line 145 of file twist_controller.cpp.

bool hector_quadrotor_controller::TwistController::init	(	QuadrotorInterface *	interface,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

inline

Definition at line 58 of file twist_controller.cpp.

void hector_quadrotor_controller::TwistController::reset ( )

inline

Definition at line 101 of file twist_controller.cpp.

bool hector_quadrotor_controller::TwistController::shutdownCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

inline

Definition at line 154 of file twist_controller.cpp.

void hector_quadrotor_controller::TwistController::starting ( const ros::Time & time )

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 163 of file twist_controller.cpp.

void hector_quadrotor_controller::TwistController::stopping ( const ros::Time & time )

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 169 of file twist_controller.cpp.

void hector_quadrotor_controller::TwistController::twistCommandCallback ( const geometry_msgs::TwistStampedConstPtr & command )

inline

Definition at line 121 of file twist_controller.cpp.

void hector_quadrotor_controller::TwistController::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)

inlinevirtual

Implements controller_interface::ControllerBase.

Definition at line 174 of file twist_controller.cpp.

Member Data Documentation

AccelerationHandlePtr hector_quadrotor_controller::TwistController::acceleration_

private

Definition at line 290 of file twist_controller.cpp.

struct { ... } hector_quadrotor_controller::TwistController::angular

bool hector_quadrotor_controller::TwistController::auto_engage_

private

Definition at line 314 of file twist_controller.cpp.

std::string hector_quadrotor_controller::TwistController::base_link_frame_

private

Definition at line 303 of file twist_controller.cpp.

ros::Subscriber hector_quadrotor_controller::TwistController::cmd_vel_subscriber_

private

Definition at line 296 of file twist_controller.cpp.

geometry_msgs::TwistStamped hector_quadrotor_controller::TwistController::command_

private

Definition at line 300 of file twist_controller.cpp.

bool hector_quadrotor_controller::TwistController::command_given_in_stabilized_frame_

private

Definition at line 302 of file twist_controller.cpp.

boost::mutex hector_quadrotor_controller::TwistController::command_mutex_

private

Definition at line 321 of file twist_controller.cpp.

ros::ServiceServer hector_quadrotor_controller::TwistController::engage_service_server_

private

Definition at line 297 of file twist_controller.cpp.

double hector_quadrotor_controller::TwistController::inertia_[3]

private

Definition at line 317 of file twist_controller.cpp.

geometry_msgs::Wrench hector_quadrotor_controller::TwistController::limits_

private

Definition at line 313 of file twist_controller.cpp.

struct { ... } hector_quadrotor_controller::TwistController::linear

double hector_quadrotor_controller::TwistController::linear_z_control_error_

private

Definition at line 320 of file twist_controller.cpp.

double hector_quadrotor_controller::TwistController::load_factor_limit

private

Definition at line 315 of file twist_controller.cpp.

double hector_quadrotor_controller::TwistController::mass_

private

Definition at line 316 of file twist_controller.cpp.

bool hector_quadrotor_controller::TwistController::motors_running_

private

Definition at line 319 of file twist_controller.cpp.

ros::NodeHandle hector_quadrotor_controller::TwistController::node_handle_

private

Definition at line 294 of file twist_controller.cpp.

struct { ... } hector_quadrotor_controller::TwistController::pid_

PoseHandlePtr hector_quadrotor_controller::TwistController::pose_

private

Definition at line 288 of file twist_controller.cpp.

ros::ServiceServer hector_quadrotor_controller::TwistController::shutdown_service_server_

private

Definition at line 298 of file twist_controller.cpp.

TwistHandlePtr hector_quadrotor_controller::TwistController::twist_

private

Definition at line 289 of file twist_controller.cpp.

TwistCommandHandlePtr hector_quadrotor_controller::TwistController::twist_input_

private

Definition at line 291 of file twist_controller.cpp.

ros::Subscriber hector_quadrotor_controller::TwistController::twist_subscriber_

private

Definition at line 295 of file twist_controller.cpp.

geometry_msgs::WrenchStamped hector_quadrotor_controller::TwistController::wrench_

private

Definition at line 301 of file twist_controller.cpp.

WrenchCommandHandlePtr hector_quadrotor_controller::TwistController::wrench_output_

private

Definition at line 292 of file twist_controller.cpp.

PID hector_quadrotor_controller::TwistController::x

Definition at line 307 of file twist_controller.cpp.

PID hector_quadrotor_controller::TwistController::y

Definition at line 308 of file twist_controller.cpp.

PID hector_quadrotor_controller::TwistController::z

Definition at line 309 of file twist_controller.cpp.

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

twist_controller.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation