hector_quadrotor_controllers::VelocityController Class Reference

Inheritance diagram for hector_quadrotor_controllers::VelocityController:

Public Member Functions
void	cmd_velCommandCallback (const geometry_msgs::TwistConstPtr &command)
virtual bool	init (hector_quadrotor_interface::QuadrotorInterface *interface, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
void	reset ()
virtual void	starting (const ros::Time &time)
virtual void	stopping (const ros::Time &time)
void	twistCommandCallback (const geometry_msgs::TwistStampedConstPtr &command)
virtual void	update (const ros::Time &time, const ros::Duration &period)
	VelocityController ()
virtual	~VelocityController ()
Public Member Functions inherited from controller_interface::Controller< hector_quadrotor_interface::QuadrotorInterface >
	Controller ()
virtual bool	init (hector_quadrotor_interface::QuadrotorInterface *, 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
AttitudeCommandHandlePtr	attitude_output_
std::string	base_link_frame_
std::string	base_stabilized_frame_
ros::Subscriber	cmd_vel_subscriber_
boost::mutex	command_mutex_
double	inertia_ [3]
double	load_factor_limit_
double	mass_
MotorStatusHandlePtr	motor_status_
struct {
control_toolbox::Pid   x
control_toolbox::Pid   y
control_toolbox::Pid   z
}	pid_
PoseHandlePtr	pose_
std::string	tf_prefix_
ThrustCommandHandlePtr	thrust_output_
TwistHandlePtr	twist_
geometry_msgs::TwistStamped	twist_command_
TwistCommandHandlePtr	twist_input_
hector_quadrotor_interface::TwistLimiter	twist_limiter_
ros::Subscriber	twist_subscriber_
std::string	world_frame_
YawrateCommandHandlePtr	yawrate_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< hector_quadrotor_interface::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 52 of file velocity_controller.cpp.

Constructor & Destructor Documentation

hector_quadrotor_controllers::VelocityController::VelocityController ( )

inline

Definition at line 55 of file velocity_controller.cpp.

virtual hector_quadrotor_controllers::VelocityController::~VelocityController ( )

inlinevirtual

Definition at line 59 of file velocity_controller.cpp.

Member Function Documentation

void hector_quadrotor_controllers::VelocityController::cmd_velCommandCallback ( const geometry_msgs::TwistConstPtr &  command )

inline

Definition at line 161 of file velocity_controller.cpp.

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

inlinevirtual

Reimplemented from controller_interface::Controller< hector_quadrotor_interface::QuadrotorInterface >.

Definition at line 65 of file velocity_controller.cpp.

void hector_quadrotor_controllers::VelocityController::reset ( )

inline

Definition at line 110 of file velocity_controller.cpp.

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

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 120 of file velocity_controller.cpp.

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

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 125 of file velocity_controller.cpp.

void hector_quadrotor_controllers::VelocityController::twistCommandCallback ( const geometry_msgs::TwistStampedConstPtr &  command )

inline

Definition at line 132 of file velocity_controller.cpp.

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

inlinevirtual

Implements controller_interface::ControllerBase.

Definition at line 184 of file velocity_controller.cpp.

Member Data Documentation

AttitudeCommandHandlePtr hector_quadrotor_controllers::VelocityController::attitude_output_

private

Definition at line 281 of file velocity_controller.cpp.

std::string hector_quadrotor_controllers::VelocityController::base_link_frame_

private

Definition at line 291 of file velocity_controller.cpp.

std::string hector_quadrotor_controllers::VelocityController::base_stabilized_frame_

private

Definition at line 291 of file velocity_controller.cpp.

ros::Subscriber hector_quadrotor_controllers::VelocityController::cmd_vel_subscriber_

private

Definition at line 286 of file velocity_controller.cpp.

boost::mutex hector_quadrotor_controllers::VelocityController::command_mutex_

private

Definition at line 303 of file velocity_controller.cpp.

double hector_quadrotor_controllers::VelocityController::inertia_[3]

private

Definition at line 301 of file velocity_controller.cpp.

double hector_quadrotor_controllers::VelocityController::load_factor_limit_

private

Definition at line 299 of file velocity_controller.cpp.

double hector_quadrotor_controllers::VelocityController::mass_

private

Definition at line 300 of file velocity_controller.cpp.

MotorStatusHandlePtr hector_quadrotor_controllers::VelocityController::motor_status_

private

Definition at line 278 of file velocity_controller.cpp.

struct { ... } hector_quadrotor_controllers::VelocityController::pid_

PoseHandlePtr hector_quadrotor_controllers::VelocityController::pose_

private

Definition at line 276 of file velocity_controller.cpp.

std::string hector_quadrotor_controllers::VelocityController::tf_prefix_

private

Definition at line 292 of file velocity_controller.cpp.

ThrustCommandHandlePtr hector_quadrotor_controllers::VelocityController::thrust_output_

private

Definition at line 283 of file velocity_controller.cpp.

TwistHandlePtr hector_quadrotor_controllers::VelocityController::twist_

private

Definition at line 277 of file velocity_controller.cpp.

geometry_msgs::TwistStamped hector_quadrotor_controllers::VelocityController::twist_command_

private

Definition at line 288 of file velocity_controller.cpp.

TwistCommandHandlePtr hector_quadrotor_controllers::VelocityController::twist_input_

private

Definition at line 280 of file velocity_controller.cpp.

hector_quadrotor_interface::TwistLimiter hector_quadrotor_controllers::VelocityController::twist_limiter_

private

Definition at line 290 of file velocity_controller.cpp.

ros::Subscriber hector_quadrotor_controllers::VelocityController::twist_subscriber_

private

Definition at line 285 of file velocity_controller.cpp.

std::string hector_quadrotor_controllers::VelocityController::world_frame_

private

Definition at line 291 of file velocity_controller.cpp.

control_toolbox::Pid hector_quadrotor_controllers::VelocityController::x

Definition at line 296 of file velocity_controller.cpp.

control_toolbox::Pid hector_quadrotor_controllers::VelocityController::y

Definition at line 296 of file velocity_controller.cpp.

YawrateCommandHandlePtr hector_quadrotor_controllers::VelocityController::yawrate_output_

private

Definition at line 282 of file velocity_controller.cpp.

control_toolbox::Pid hector_quadrotor_controllers::VelocityController::z

Definition at line 296 of file velocity_controller.cpp.

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

• velocity_controller.cpp