Public Member Functions | Public Attributes | List of all members
controller::Caster Class Reference

#include <base_kinematics.h>

Public Member Functions

bool init (pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node, std::string link_name)
 

Public Attributes

double caster_position_error_
 difference between desired and actual angles of the casters More...
 
double caster_speed_
 remembers the caster's current speed More...
 
double caster_speed_error_
 difference between desired and actual speeds of the casters More...
 
double caster_speed_filtered_
 caster speed filtered with alpha More...
 
int caster_stuck_
 remembers if the caster is stalled More...
 
pr2_mechanism_model::JointStatejoint_
 JointState for this caster joint. More...
 
std::string joint_name_
 name of the joint More...
 
std::string link_name_
 name of the link More...
 
int num_children_
 the number of child wheels that are attached to this caster More...
 
geometry_msgs::Point offset_
 offset from the center of the base More...
 
BaseKinematicsparent_
 BaseKinematics to which this caster belongs. More...
 
double steer_angle_actual_
 actual caster steer angles More...
 
double steer_angle_desired_
 actual caster steer angles More...
 
double steer_angle_stored_
 stored caster steer angles More...
 
double steer_velocity_desired_
 vector of desired caster steer speeds More...
 

Detailed Description

Definition at line 142 of file base_kinematics.h.

Member Function Documentation

bool Caster::init ( pr2_mechanism_model::RobotState robot_state,
ros::NodeHandle node,
std::string  link_name 
)

Definition at line 96 of file base_kinematics.cpp.

Member Data Documentation

double controller::Caster::caster_position_error_

difference between desired and actual angles of the casters

Definition at line 201 of file base_kinematics.h.

double controller::Caster::caster_speed_

remembers the caster's current speed

Definition at line 216 of file base_kinematics.h.

double controller::Caster::caster_speed_error_

difference between desired and actual speeds of the casters

Definition at line 206 of file base_kinematics.h.

double controller::Caster::caster_speed_filtered_

caster speed filtered with alpha

Definition at line 211 of file base_kinematics.h.

int controller::Caster::caster_stuck_

remembers if the caster is stalled

Definition at line 221 of file base_kinematics.h.

pr2_mechanism_model::JointState* controller::Caster::joint_

JointState for this caster joint.

Definition at line 149 of file base_kinematics.h.

std::string controller::Caster::joint_name_

name of the joint

Definition at line 164 of file base_kinematics.h.

std::string controller::Caster::link_name_

name of the link

Definition at line 159 of file base_kinematics.h.

int controller::Caster::num_children_

the number of child wheels that are attached to this caster

Definition at line 176 of file base_kinematics.h.

geometry_msgs::Point controller::Caster::offset_

offset from the center of the base

Definition at line 154 of file base_kinematics.h.

BaseKinematics* controller::Caster::parent_

BaseKinematics to which this caster belongs.

Definition at line 171 of file base_kinematics.h.

double controller::Caster::steer_angle_actual_

actual caster steer angles

Definition at line 181 of file base_kinematics.h.

double controller::Caster::steer_angle_desired_

actual caster steer angles

Definition at line 186 of file base_kinematics.h.

double controller::Caster::steer_angle_stored_

stored caster steer angles

Definition at line 196 of file base_kinematics.h.

double controller::Caster::steer_velocity_desired_

vector of desired caster steer speeds

Definition at line 191 of file base_kinematics.h.


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


pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Mon Jun 10 2019 14:26:33