Inheritance diagram for hector_quadrotor_controllers::PositionController:

Public Member Functions
virtual bool	init (QuadrotorInterface *interface, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)

void	poseCommandCallback (const geometry_msgs::PoseStampedConstPtr &command)

	PositionController ()

void	reset ()

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

virtual void	stopping (const ros::Time &time)

void	twistLimitCallback (const geometry_msgs::TwistConstPtr &limit)

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

virtual	~PositionController ()

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 Member Functions
void	initMarker (std::string name)

void	updatePoseCommand (const geometry_msgs::PoseStamped &new_pose)

void	updatePoseCommand (const geometry_msgs::Pose &new_pose)

Private Attributes
std::string	base_link_frame_

std::string	base_stabilized_frame_

boost::mutex	command_mutex_

ros::Publisher	marker_publisher_

MotorStatusHandlePtr	motor_status_

struct {
control_toolbox::Pid x

control_toolbox::Pid y

control_toolbox::Pid yaw

control_toolbox::Pid z

}	pid_

PoseHandlePtr	pose_

geometry_msgs::Pose	pose_command_

bool	pose_command_valid_

PoseCommandHandlePtr	pose_input_

visualization_msgs::Marker	pose_marker_

ros::Subscriber	pose_subscriber_

hector_quadrotor_interface::PointLimiter	position_limiter_

std::string	tf_prefix_

TwistHandlePtr	twist_

TwistCommandHandlePtr	twist_input_

geometry_msgs::Twist	twist_limit_

TwistCommandHandlePtr	twist_limit_input_

ros::Subscriber	twist_limit_subscriber_

bool	twist_limit_valid_

TwistCommandHandlePtr	twist_output_

std::string	world_frame_

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 54 of file position_controller.cpp.

Constructor & Destructor Documentation

hector_quadrotor_controllers::PositionController::PositionController ( )

inline

Definition at line 57 of file position_controller.cpp.

virtual hector_quadrotor_controllers::PositionController::~PositionController ( )

inlinevirtual

Definition at line 62 of file position_controller.cpp.

Member Function Documentation

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

inlinevirtual

Definition at line 68 of file position_controller.cpp.

void hector_quadrotor_controllers::PositionController::initMarker ( std::string name )

inlineprivate

Definition at line 302 of file position_controller.cpp.

void hector_quadrotor_controllers::PositionController::poseCommandCallback ( const geometry_msgs::PoseStampedConstPtr & command )

inline

Definition at line 138 of file position_controller.cpp.

void hector_quadrotor_controllers::PositionController::reset ( )

inline

Definition at line 114 of file position_controller.cpp.

virtual void hector_quadrotor_controllers::PositionController::starting ( const ros::Time & time )

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 126 of file position_controller.cpp.

virtual void hector_quadrotor_controllers::PositionController::stopping ( const ros::Time & time )

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 131 of file position_controller.cpp.

void hector_quadrotor_controllers::PositionController::twistLimitCallback ( const geometry_msgs::TwistConstPtr & limit )

inline

Definition at line 149 of file position_controller.cpp.

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

inlinevirtual

Implements controller_interface::ControllerBase.

Definition at line 157 of file position_controller.cpp.

void hector_quadrotor_controllers::PositionController::updatePoseCommand ( const geometry_msgs::PoseStamped & new_pose )

inlineprivate

Definition at line 273 of file position_controller.cpp.

void hector_quadrotor_controllers::PositionController::updatePoseCommand ( const geometry_msgs::Pose & new_pose )

inlineprivate

Definition at line 285 of file position_controller.cpp.

Member Data Documentation

std::string hector_quadrotor_controllers::PositionController::base_link_frame_

private

Definition at line 336 of file position_controller.cpp.

std::string hector_quadrotor_controllers::PositionController::base_stabilized_frame_

private

Definition at line 336 of file position_controller.cpp.

boost::mutex hector_quadrotor_controllers::PositionController::command_mutex_

private

Definition at line 344 of file position_controller.cpp.

ros::Publisher hector_quadrotor_controllers::PositionController::marker_publisher_

private

Definition at line 328 of file position_controller.cpp.

MotorStatusHandlePtr hector_quadrotor_controllers::PositionController::motor_status_

private

Definition at line 318 of file position_controller.cpp.

struct { ... } hector_quadrotor_controllers::PositionController::pid_

PoseHandlePtr hector_quadrotor_controllers::PositionController::pose_

private

Definition at line 316 of file position_controller.cpp.

geometry_msgs::Pose hector_quadrotor_controllers::PositionController::pose_command_

private

Definition at line 332 of file position_controller.cpp.

bool hector_quadrotor_controllers::PositionController::pose_command_valid_

private

Definition at line 334 of file position_controller.cpp.

PoseCommandHandlePtr hector_quadrotor_controllers::PositionController::pose_input_

private

Definition at line 320 of file position_controller.cpp.

visualization_msgs::Marker hector_quadrotor_controllers::PositionController::pose_marker_

private

Definition at line 330 of file position_controller.cpp.

ros::Subscriber hector_quadrotor_controllers::PositionController::pose_subscriber_

private

Definition at line 327 of file position_controller.cpp.

hector_quadrotor_interface::PointLimiter hector_quadrotor_controllers::PositionController::position_limiter_

private

Definition at line 325 of file position_controller.cpp.

std::string hector_quadrotor_controllers::PositionController::tf_prefix_

private

Definition at line 337 of file position_controller.cpp.

TwistHandlePtr hector_quadrotor_controllers::PositionController::twist_

private

Definition at line 317 of file position_controller.cpp.

TwistCommandHandlePtr hector_quadrotor_controllers::PositionController::twist_input_

private

Definition at line 321 of file position_controller.cpp.

geometry_msgs::Twist hector_quadrotor_controllers::PositionController::twist_limit_

private

Definition at line 333 of file position_controller.cpp.

TwistCommandHandlePtr hector_quadrotor_controllers::PositionController::twist_limit_input_

private

Definition at line 322 of file position_controller.cpp.

ros::Subscriber hector_quadrotor_controllers::PositionController::twist_limit_subscriber_

private

Definition at line 327 of file position_controller.cpp.

bool hector_quadrotor_controllers::PositionController::twist_limit_valid_

private

Definition at line 334 of file position_controller.cpp.

TwistCommandHandlePtr hector_quadrotor_controllers::PositionController::twist_output_

private

Definition at line 323 of file position_controller.cpp.

std::string hector_quadrotor_controllers::PositionController::world_frame_

private

Definition at line 336 of file position_controller.cpp.

control_toolbox::Pid hector_quadrotor_controllers::PositionController::x

Definition at line 341 of file position_controller.cpp.

control_toolbox::Pid hector_quadrotor_controllers::PositionController::y

Definition at line 341 of file position_controller.cpp.

control_toolbox::Pid hector_quadrotor_controllers::PositionController::yaw

Definition at line 341 of file position_controller.cpp.

control_toolbox::Pid hector_quadrotor_controllers::PositionController::z

Definition at line 341 of file position_controller.cpp.

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

position_controller.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation