noid::mover::NoidMoverController Class Reference

#include <noid_mover_controller.h>

Public Member Functions
	NoidMoverController (const ros::NodeHandle &_nh, noid_robot_hardware::NoidRobotHW *_in_hw)
	~NoidMoverController ()
	destructor More...

Private Member Functions
void	calculateOdometry (const ros::TimerEvent &_event)
	odometry publisher More...
void	cmdVelCallback (const geometry_msgs::TwistConstPtr &_cmd_vel)
	control with cmd_vel More...
void	safetyCheckCallback (const ros::TimerEvent &_event)
	safety stopper when msg is not reached for more than safety_duration_ [s] More...
void	velocityToWheel (double _linear_x, double _linear_y, double _angular_z, std::vector< int16_t > &_wheel_vel)

Private Attributes
std::vector< int >	aero_index_
boost::mutex	base_mtx_
ros::Subscriber	cmd_vel_sub_
ros::Time	current_time_
noid_robot_hardware::NoidRobotHW *	hw_
float	k1_
float	k2_
ros::Time	last_time_
ros::NodeHandle	nh_
int	num_of_wheels_
tf::TransformBroadcaster	odom_broadcaster_
ros::Publisher	odom_pub_
double	odom_rate_
ros::Timer	odom_timer_
double	ros_rate_
ros::Timer	safe_timer_
double	safety_duration_
double	safety_rate_
bool	servo_on_
double	th_
ros::Time	time_stamp_
double	vth_
double	vx_
double	vy_
std::vector< std::string >	wheel_names_
double	x_
double	y_

Detailed Description

Definition at line 33 of file noid_mover_controller.h.

Constructor & Destructor Documentation

NoidMoverController::NoidMoverController ( const ros::NodeHandle &  _nh, noid_robot_hardware::NoidRobotHW *  _in_hw  )

explicit

Definition at line 7 of file noid_mover_controller.cpp.

NoidMoverController::~NoidMoverController

(

)

destructor

Definition at line 51 of file noid_mover_controller.cpp.

Member Function Documentation

void NoidMoverController::calculateOdometry ( const ros::TimerEvent &  _event )

private

odometry publisher

Definition at line 139 of file noid_mover_controller.cpp.

void NoidMoverController::cmdVelCallback ( const geometry_msgs::TwistConstPtr &  _cmd_vel )

private

control with cmd_vel

Definition at line 57 of file noid_mover_controller.cpp.

void NoidMoverController::safetyCheckCallback ( const ros::TimerEvent &  _event )

private

safety stopper when msg is not reached for more than safety_duration_ [s]

Definition at line 120 of file noid_mover_controller.cpp.

void NoidMoverController::velocityToWheel ( double  _linear_x, double  _linear_y, double  _angular_z, std::vector< int16_t > &  _wheel_vel  )

private

Definition at line 194 of file noid_mover_controller.cpp.

Member Data Documentation

std::vector<int> noid::mover::NoidMoverController::aero_index_

private

Definition at line 64 of file noid_mover_controller.h.

boost::mutex noid::mover::NoidMoverController::base_mtx_

private

Definition at line 66 of file noid_mover_controller.h.

ros::Subscriber noid::mover::NoidMoverController::cmd_vel_sub_

private

Definition at line 49 of file noid_mover_controller.h.

ros::Time noid::mover::NoidMoverController::current_time_

private

Definition at line 47 of file noid_mover_controller.h.

noid_robot_hardware::NoidRobotHW* noid::mover::NoidMoverController::hw_

private

Definition at line 67 of file noid_mover_controller.h.

float noid::mover::NoidMoverController::k1_

private

Definition at line 60 of file noid_mover_controller.h.

float noid::mover::NoidMoverController::k2_

private

Definition at line 60 of file noid_mover_controller.h.

ros::Time noid::mover::NoidMoverController::last_time_

private

Definition at line 47 of file noid_mover_controller.h.

ros::NodeHandle noid::mover::NoidMoverController::nh_

private

Definition at line 45 of file noid_mover_controller.h.

int noid::mover::NoidMoverController::num_of_wheels_

private

Definition at line 61 of file noid_mover_controller.h.

tf::TransformBroadcaster noid::mover::NoidMoverController::odom_broadcaster_

private

Definition at line 50 of file noid_mover_controller.h.

ros::Publisher noid::mover::NoidMoverController::odom_pub_

private

Definition at line 46 of file noid_mover_controller.h.

double noid::mover::NoidMoverController::odom_rate_

private

Definition at line 59 of file noid_mover_controller.h.

ros::Timer noid::mover::NoidMoverController::odom_timer_

private

Definition at line 48 of file noid_mover_controller.h.

double noid::mover::NoidMoverController::ros_rate_

private

Definition at line 59 of file noid_mover_controller.h.

ros::Timer noid::mover::NoidMoverController::safe_timer_

private

Definition at line 48 of file noid_mover_controller.h.

double noid::mover::NoidMoverController::safety_duration_

private

Definition at line 59 of file noid_mover_controller.h.

double noid::mover::NoidMoverController::safety_rate_

private

Definition at line 59 of file noid_mover_controller.h.

bool noid::mover::NoidMoverController::servo_on_

private

Definition at line 62 of file noid_mover_controller.h.

double noid::mover::NoidMoverController::th_

private

Definition at line 58 of file noid_mover_controller.h.

ros::Time noid::mover::NoidMoverController::time_stamp_

private

Definition at line 47 of file noid_mover_controller.h.

double noid::mover::NoidMoverController::vth_

private

Definition at line 58 of file noid_mover_controller.h.

double noid::mover::NoidMoverController::vx_

private

Definition at line 58 of file noid_mover_controller.h.

double noid::mover::NoidMoverController::vy_

private

Definition at line 58 of file noid_mover_controller.h.

std::vector<std::string> noid::mover::NoidMoverController::wheel_names_

private

Definition at line 63 of file noid_mover_controller.h.

double noid::mover::NoidMoverController::x_

private

Definition at line 58 of file noid_mover_controller.h.

double noid::mover::NoidMoverController::y_

private

Definition at line 58 of file noid_mover_controller.h.

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

• noid_mover_controller.h
• noid_mover_controller.cpp