Controller Class Reference

#include <controller.h>

Public Member Functions
bool	activate_control_service (std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &resp)
void	console_update (const ros::TimerEvent &event)
void	control_update (const ros::TimerEvent &event)
	Controller (ros::NodeHandle &n)
void	course_callback (const heron_msgs::Course msg)
double	fvel_compensator ()
void	fwd_vel_mapping ()
void	helm_callback (const heron_msgs::Helm msg)
void	odom_callback (const nav_msgs::Odometry msg)
void	twist_callback (const geometry_msgs::Twist msg)
void	update_fwd_vel_control ()
void	update_yaw_control ()
void	update_yaw_rate_control ()
void	wrench_callback (const geometry_msgs::Wrench msg)
double	y_compensator ()
double	yr_compensator ()
	~Controller ()

Private Attributes
ros::ServiceServer	active_control_srv
int	control_mode
double	course_cmd_time_
double	course_cmd_timeout_
ForceCompensator *	force_compensator_
geometry_msgs::Wrench	force_output_
double	fvel_cmd_
ros::Publisher	fvel_dbg_pub_
double	fvel_imax_
double	fvel_imin_
double	fvel_kd_
double	fvel_kf_
double	fvel_ki_
double	fvel_kp_
double	fvel_meas_
control_toolbox::Pid	fvel_pid_
double	helm_cmd_time_
double	helm_cmd_timeout_
double	imu_cov_limit_
double	imu_data_time_
double	imu_data_timeout_
bool	imu_timeout_
bool	is_active_control
double	max_bck_force_
double	max_bck_vel_
double	max_fwd_force_
double	max_fwd_vel_
ros::NodeHandle	node_
double	twist_cmd_time_
double	twist_cmd_timeout_
double	vel_cov_limit_
double	vel_data_time_
double	vel_data_timeout_
bool	vel_timeout_
double	wrench_cmd_time_
double	wrench_cmd_timeout_
double	y_cmd_
ros::Publisher	y_dbg_pub_
double	y_imax_
double	y_imin_
double	y_kd_
double	y_kf_
double	y_ki_
double	y_kp_
double	y_meas_
control_toolbox::Pid	y_pid_
double	yr_cmd_
ros::Publisher	yr_dbg_pub_
double	yr_imax_
double	yr_imin_
double	yr_kd_
double	yr_kf_
double	yr_ki_
double	yr_kp_
double	yr_meas_
control_toolbox::Pid	yr_pid_

Detailed Description

Definition at line 41 of file controller.h.

Constructor & Destructor Documentation

Controller::Controller

(

ros::NodeHandle &

n

)

Definition at line 26 of file controller.cpp.

Controller::~Controller ( )

inline

Definition at line 88 of file controller.h.

Member Function Documentation

bool Controller::activate_control_service	(	std_srvs::SetBool::Request &	req,
		std_srvs::SetBool::Response &	resp
	)

Definition at line 417 of file controller.cpp.

void Controller::console_update

(

const ros::TimerEvent &

event

)

Definition at line 314 of file controller.cpp.

void Controller::control_update

(

const ros::TimerEvent &

event

)

Definition at line 350 of file controller.cpp.

void Controller::course_callback

(

const heron_msgs::Course

msg

)

Definition at line 244 of file controller.cpp.

double Controller::fvel_compensator

(

)

Definition at line 128 of file controller.cpp.

void Controller::fwd_vel_mapping

(

)

Definition at line 198 of file controller.cpp.

void Controller::helm_callback

(

const heron_msgs::Helm

msg

)

Definition at line 257 of file controller.cpp.

void Controller::odom_callback

(

const nav_msgs::Odometry

msg

)

Definition at line 275 of file controller.cpp.

void Controller::twist_callback

(

const geometry_msgs::Twist

msg

)

Definition at line 220 of file controller.cpp.

void Controller::update_fwd_vel_control

(

)

Definition at line 206 of file controller.cpp.

void Controller::update_yaw_control

(

)

Definition at line 214 of file controller.cpp.

void Controller::update_yaw_rate_control

(

)

Definition at line 210 of file controller.cpp.

void Controller::wrench_callback

(

const geometry_msgs::Wrench

msg

)

Definition at line 237 of file controller.cpp.

double Controller::y_compensator

(

)

Definition at line 158 of file controller.cpp.

double Controller::yr_compensator

(

)

Definition at line 143 of file controller.cpp.

Member Data Documentation

ros::ServiceServer Controller::active_control_srv

private

Definition at line 83 of file controller.h.

int Controller::control_mode

private

Definition at line 81 of file controller.h.

double Controller::course_cmd_time_

private

Definition at line 56 of file controller.h.

double Controller::course_cmd_timeout_

private

Definition at line 56 of file controller.h.

ForceCompensator* Controller::force_compensator_

private

Definition at line 44 of file controller.h.

geometry_msgs::Wrench Controller::force_output_

private

Definition at line 45 of file controller.h.

double Controller::fvel_cmd_

private

Definition at line 64 of file controller.h.

ros::Publisher Controller::fvel_dbg_pub_

private

Definition at line 62 of file controller.h.

double Controller::fvel_imax_

private

Definition at line 63 of file controller.h.

double Controller::fvel_imin_

private

Definition at line 63 of file controller.h.

double Controller::fvel_kd_

private

Definition at line 63 of file controller.h.

double Controller::fvel_kf_

private

Definition at line 63 of file controller.h.

double Controller::fvel_ki_

private

Definition at line 63 of file controller.h.

double Controller::fvel_kp_

private

Definition at line 63 of file controller.h.

double Controller::fvel_meas_

private

Definition at line 64 of file controller.h.

control_toolbox::Pid Controller::fvel_pid_

private

Definition at line 61 of file controller.h.

double Controller::helm_cmd_time_

private

Definition at line 57 of file controller.h.

double Controller::helm_cmd_timeout_

private

Definition at line 57 of file controller.h.

double Controller::imu_cov_limit_

private

Definition at line 52 of file controller.h.

double Controller::imu_data_time_

private

Definition at line 52 of file controller.h.

double Controller::imu_data_timeout_

private

Definition at line 52 of file controller.h.

bool Controller::imu_timeout_

private

Definition at line 53 of file controller.h.

bool Controller::is_active_control

private

Definition at line 84 of file controller.h.

double Controller::max_bck_force_

private

Definition at line 79 of file controller.h.

double Controller::max_bck_vel_

private

Definition at line 79 of file controller.h.

double Controller::max_fwd_force_

private

Definition at line 79 of file controller.h.

double Controller::max_fwd_vel_

private

Definition at line 79 of file controller.h.

ros::NodeHandle Controller::node_

private

Definition at line 43 of file controller.h.

double Controller::twist_cmd_time_

private

Definition at line 59 of file controller.h.

double Controller::twist_cmd_timeout_

private

Definition at line 59 of file controller.h.

double Controller::vel_cov_limit_

private

Definition at line 48 of file controller.h.

double Controller::vel_data_time_

private

Definition at line 48 of file controller.h.

double Controller::vel_data_timeout_

private

Definition at line 48 of file controller.h.

bool Controller::vel_timeout_

private

Definition at line 49 of file controller.h.

double Controller::wrench_cmd_time_

private

Definition at line 58 of file controller.h.

double Controller::wrench_cmd_timeout_

private

Definition at line 58 of file controller.h.

double Controller::y_cmd_

private

Definition at line 76 of file controller.h.

ros::Publisher Controller::y_dbg_pub_

private

Definition at line 74 of file controller.h.

double Controller::y_imax_

private

Definition at line 75 of file controller.h.

double Controller::y_imin_

private

Definition at line 75 of file controller.h.

double Controller::y_kd_

private

Definition at line 75 of file controller.h.

double Controller::y_kf_

private

Definition at line 75 of file controller.h.

double Controller::y_ki_

private

Definition at line 75 of file controller.h.

double Controller::y_kp_

private

Definition at line 75 of file controller.h.

double Controller::y_meas_

private

Definition at line 76 of file controller.h.

control_toolbox::Pid Controller::y_pid_

private

Definition at line 73 of file controller.h.

double Controller::yr_cmd_

private

Definition at line 70 of file controller.h.

ros::Publisher Controller::yr_dbg_pub_

private

Definition at line 68 of file controller.h.

double Controller::yr_imax_

private

Definition at line 69 of file controller.h.

double Controller::yr_imin_

private

Definition at line 69 of file controller.h.

double Controller::yr_kd_

private

Definition at line 69 of file controller.h.

double Controller::yr_kf_

private

Definition at line 69 of file controller.h.

double Controller::yr_ki_

private

Definition at line 69 of file controller.h.

double Controller::yr_kp_

private

Definition at line 69 of file controller.h.

double Controller::yr_meas_

private

Definition at line 70 of file controller.h.

control_toolbox::Pid Controller::yr_pid_

private

Definition at line 67 of file controller.h.

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

• controller.h
• controller.cpp