A class that provides motion controller implementation. \ Inherits publicly MotionController. More...

Inheritance diagram for stdr_robot::OmniMotionController:

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

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

	~OmniMotionController (void)
	Default destructor. More...

Public Member Functions inherited from stdr_robot::MotionController
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...

Additional Inherited Members
Protected Member Functions inherited from stdr_robot::MotionController
	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 inherited from stdr_robot::MotionController
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

A class that provides motion controller implementation. \ Inherits publicly MotionController.

Definition at line 53 of file omni_motion_controller.h.

Constructor & Destructor Documentation

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

Default constructor.

Parameters

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

Definition at line 48 of file omni_motion_controller.cpp.

stdr_robot::OmniMotionController::~OmniMotionController ( void )

Default destructor.

Definition at line 97 of file omni_motion_controller.cpp.

void stdr_robot::OmniMotionController::calculateMotion ( const ros::TimerEvent & event )

virtual

Calculates the motion - updates the robot pose.

Parameters

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

< updates _posePtr based on _currentTwist and time passed (event.last_real)

Definition at line 68 of file omni_motion_controller.cpp.

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