Abstract class that provides motion controller abstraction. More...

#include <motion_controller_base.h>

Inheritance diagram for stdr_robot::MotionController:

Public Member Functions
virtual void	calculateMotion (const ros::TimerEvent &event)=0
	Pure virtual function - Calculates the motion - updates the robot pose. More...

geometry_msgs::Pose2D	getPose (void)
	Returns the pose calculated by the motion controller. More...

geometry_msgs::Twist	getVelocity ()
	Get the current velocity of the motion controller. More...

float	sampleNormal (float sigma)
	Approaches a normal distribution sampling. More...

virtual void	sampleVelocities (void)
	Virtual function - Add noise to velocity commands. More...

void	setPose (geometry_msgs::Pose2D new_pose)
	Sets the initial pose of the motion controller. More...

virtual void	stop (void)
	Virtual function - Stops the robot. More...

virtual void	velocityCallback (const geometry_msgs::Twist &msg)
	Virtual function - Callback for velocity commands. More...

virtual	~MotionController (void)
	Default desctructor. More...

Protected Member Functions
	MotionController (const geometry_msgs::Pose2D &pose, tf::TransformBroadcaster &tf, const std::string &name, ros::NodeHandle &n, const stdr_msgs::KinematicMsg params)
	Default constructor. More...

Protected Attributes
ros::Timer	_calcTimer
	Broadcaster of the robot tf transform. More...

geometry_msgs::Twist	_currentTwist
	The kinematic model parameters. More...

ros::Duration	_freq
	ROS timer for generating motion calculation events. More...

stdr_msgs::KinematicMsg	_motion_parameters

const std::string &	_namespace
	< The base of the frame_id More...

geometry_msgs::Pose2D	_pose
	Current motion command. More...

tf::TransformBroadcaster &	_tfBroadcaster
	Robot pose message. More...

ros::Subscriber	_velocitySubscrider
	Frequency of motion calculation. More...

Detailed Description

Abstract class that provides motion controller abstraction.

Definition at line 44 of file motion_controller_base.h.

Constructor & Destructor Documentation

virtual stdr_robot::MotionController::~MotionController ( void )

inlinevirtual

Default desctructor.

Returns: void

Definition at line 161 of file motion_controller_base.h.

stdr_robot::MotionController::MotionController	(	const geometry_msgs::Pose2D &	pose,
		tf::TransformBroadcaster &	tf,
		const std::string &	name,
		ros::NodeHandle &	n,
		const stdr_msgs::KinematicMsg	params
	)

inlineprotected

Default constructor.

Parameters

pose	[const geometry_msgs::Pose2D&] The robot pose
tf	[tf::TransformBroadcaster&] A ROS tf broadcaster
name	[const std::string&] The robot frame id

Returns: void

Definition at line 191 of file motion_controller_base.h.

Member Function Documentation

virtual void stdr_robot::MotionController::calculateMotion ( const ros::TimerEvent & event )

pure virtual

Pure virtual function - Calculates the motion - updates the robot pose.

Parameters

event [const ros::TimerEvent&] A ROS timer event

Returns: void

Implemented in stdr_robot::OmniMotionController, and stdr_robot::IdealMotionController.

geometry_msgs::Pose2D stdr_robot::MotionController::getPose ( void )

inline

Returns the pose calculated by the motion controller.

Returns: geometry_msgs::Pose2D

Definition at line 132 of file motion_controller_base.h.

geometry_msgs::Twist stdr_robot::MotionController::getVelocity ( )

inline

Get the current velocity of the motion controller.

Returns: geometry_msgs::Twist

Definition at line 153 of file motion_controller_base.h.

float stdr_robot::MotionController::sampleNormal ( float sigma )

inline

Approaches a normal distribution sampling.

Returns: float source: Sebastian Thrun, Probabilistic Robotics

Definition at line 170 of file motion_controller_base.h.

virtual void stdr_robot::MotionController::sampleVelocities ( void )

inlinevirtual

Virtual function - Add noise to velocity commands.

Parameters

msg	[geometry_msgs::Twist&] The velocity command

Returns

void The formulas used are:

u_x' = u_x + Sample(a_ux_ux * u_x^2 + a_ux_uy * u_y^2 + a_ux_w * w^2)
u_y' = u_y + Sample(a_uy_ux * u_x^2 + a_uy_uy * u_y^2 + a_uy_w * w^2)
w' = w + Sample(a_w_ux * u_x^2 + a_w_uy * u_y^2 + a_w_w * w^2)
g' = Sample(a_g_ux * u_x^2 + a_g_uy * u_y^2 + a_g_w * w^2) Then w' is used as such (depending on the model): theta' = theta + (w' + g') * Dt Sample(b^2) produces samples from a normal distribution with variance equal to b^2.

Definition at line 75 of file motion_controller_base.h.

void stdr_robot::MotionController::setPose ( geometry_msgs::Pose2D new_pose )

inline

Sets the initial pose of the motion controller.

Parameters

new_pose [geometry_msgs::Pose2D] The new pose

Returns: void

Definition at line 142 of file motion_controller_base.h.

virtual void stdr_robot::MotionController::stop ( void )

inlinevirtual

Virtual function - Stops the robot.

Returns: void

Definition at line 111 of file motion_controller_base.h.

virtual void stdr_robot::MotionController::velocityCallback ( const geometry_msgs::Twist & msg )

inlinevirtual

Virtual function - Callback for velocity commands.

Parameters

msg	[const geometry_msgs::Twist&] The velocity command

Returns: void

Definition at line 53 of file motion_controller_base.h.

Member Data Documentation

ros::Timer stdr_robot::MotionController::_calcTimer

protected

Broadcaster of the robot tf transform.

Definition at line 222 of file motion_controller_base.h.

geometry_msgs::Twist stdr_robot::MotionController::_currentTwist

protected

The kinematic model parameters.

Definition at line 228 of file motion_controller_base.h.

ros::Duration stdr_robot::MotionController::_freq

protected

ROS timer for generating motion calculation events.

Definition at line 220 of file motion_controller_base.h.

stdr_msgs::KinematicMsg stdr_robot::MotionController::_motion_parameters

protected

Definition at line 230 of file motion_controller_base.h.

const std::string& stdr_robot::MotionController::_namespace

protected

< The base of the frame_id

ROS subscriber to the velocity topic

Definition at line 216 of file motion_controller_base.h.

geometry_msgs::Pose2D stdr_robot::MotionController::_pose

protected

Current motion command.

Definition at line 226 of file motion_controller_base.h.

tf::TransformBroadcaster& stdr_robot::MotionController::_tfBroadcaster

protected

Robot pose message.

Definition at line 224 of file motion_controller_base.h.

ros::Subscriber stdr_robot::MotionController::_velocitySubscrider

protected

Frequency of motion calculation.

Definition at line 218 of file motion_controller_base.h.

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

motion_controller_base.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation