kobuki_testsuite.motion_square.Square Class Reference

Inheritance diagram for kobuki_testsuite.motion_square.Square:

Public Member Functions
def	__init__ (self, cmd_vel_topic, odom_topic, gyro_topic)
def	execute (self)
def	heading_callback (self, data)
def	init (self, speed, side_distance)
def	odometry_callback (self, data)
	Ros Callbacks. More...
def	shutdown (self)
def	stop (self)

Public Attributes
	cmd_vel_publisher
	gyro_subscriber
	last_state
	odom_subscriber

Static Public Attributes
string	STATE_FORWARD = "forward"
string	STATE_STOP_FORWARD = "stop_forward"
string	STATE_STOP_TURN = "stop_turn"
string	STATE_TURN = "turn"

Private Member Functions
def	_command (self, linear, angular)
def	_forward (self)
def	_has_reached_forward_goal (self)
	Utilities. More...
def	_has_reached_turning_goal (self)
def	_stop_forward (self)
def	_stop_turn (self)
def	_turn (self)

Private Attributes
	_current_pose
	_rate
	_running
	_side_distance
	_speed
	_starting_pose
	_state
	_stop
	_turn_count

Detailed Description

Definition at line 38 of file motion_square.py.

Constructor & Destructor Documentation

def kobuki_testsuite.motion_square.Square.__init__	(		self,
			cmd_vel_topic,
			odom_topic,
			gyro_topic
	)

Definition at line 44 of file motion_square.py.

Member Function Documentation

def kobuki_testsuite.motion_square.Square._command (   self,   linear,   angular  )

private

  Publishes a cmd_vel message for the kobuki.

Definition at line 141 of file motion_square.py.

def kobuki_testsuite.motion_square.Square._forward (   self )

private

Definition at line 150 of file motion_square.py.

def kobuki_testsuite.motion_square.Square._has_reached_forward_goal (   self )

private

Utilities.

Definition at line 125 of file motion_square.py.

def kobuki_testsuite.motion_square.Square._has_reached_turning_goal (   self )

private

Definition at line 134 of file motion_square.py.

def kobuki_testsuite.motion_square.Square._stop_forward (   self )

private

Definition at line 158 of file motion_square.py.

def kobuki_testsuite.motion_square.Square._stop_turn (   self )

private

Definition at line 174 of file motion_square.py.

def kobuki_testsuite.motion_square.Square._turn (   self )

private

Definition at line 164 of file motion_square.py.

def kobuki_testsuite.motion_square.Square.execute

(

self

)

  Drop this into threading.Thread or QThread for execution

Definition at line 81 of file motion_square.py.

def kobuki_testsuite.motion_square.Square.heading_callback	(		self,
			data
	)

Definition at line 195 of file motion_square.py.

def kobuki_testsuite.motion_square.Square.init	(		self,
			speed,
			side_distance
	)

Definition at line 62 of file motion_square.py.

def kobuki_testsuite.motion_square.Square.odometry_callback	(		self,
			data
	)

Ros Callbacks.

Definition at line 189 of file motion_square.py.

def kobuki_testsuite.motion_square.Square.shutdown

(

self

)

Definition at line 67 of file motion_square.py.

def kobuki_testsuite.motion_square.Square.stop

(

self

)

Definition at line 78 of file motion_square.py.

Member Data Documentation

kobuki_testsuite.motion_square.Square._current_pose

private

Definition at line 53 of file motion_square.py.

kobuki_testsuite.motion_square.Square._rate

private

Definition at line 45 of file motion_square.py.

kobuki_testsuite.motion_square.Square._running

private

Definition at line 50 of file motion_square.py.

kobuki_testsuite.motion_square.Square._side_distance

private

Definition at line 47 of file motion_square.py.

kobuki_testsuite.motion_square.Square._speed

private

Definition at line 46 of file motion_square.py.

kobuki_testsuite.motion_square.Square._starting_pose

private

Definition at line 54 of file motion_square.py.

kobuki_testsuite.motion_square.Square._state

private

Definition at line 55 of file motion_square.py.

kobuki_testsuite.motion_square.Square._stop

private

Definition at line 49 of file motion_square.py.

kobuki_testsuite.motion_square.Square._turn_count

private

Definition at line 51 of file motion_square.py.

kobuki_testsuite.motion_square.Square.cmd_vel_publisher

Definition at line 59 of file motion_square.py.

kobuki_testsuite.motion_square.Square.gyro_subscriber

Definition at line 60 of file motion_square.py.

kobuki_testsuite.motion_square.Square.last_state

Definition at line 56 of file motion_square.py.

kobuki_testsuite.motion_square.Square.odom_subscriber

Definition at line 58 of file motion_square.py.

string kobuki_testsuite.motion_square.Square.STATE_FORWARD = "forward"

static

Definition at line 39 of file motion_square.py.

string kobuki_testsuite.motion_square.Square.STATE_STOP_FORWARD = "stop_forward"

static

Definition at line 40 of file motion_square.py.

string kobuki_testsuite.motion_square.Square.STATE_STOP_TURN = "stop_turn"

static

Definition at line 42 of file motion_square.py.

string kobuki_testsuite.motion_square.Square.STATE_TURN = "turn"

static

Definition at line 41 of file motion_square.py.

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

• motion_square.py