Public Member Functions | Private Member Functions | Private Attributes | List of all members
towr::TowrUserInterface Class Reference

Translates user input into the ROS message TowrCommand.msg. More...

#include <towr_user_interface.h>

Public Member Functions

void CallbackKey (int c)
 
 TowrUserInterface ()
 Constructs default object to interact with framework. More...
 
virtual ~TowrUserInterface ()=default
 

Private Member Functions

int AdvanceCircularBuffer (int &curr, int max) const
 
void PrintScreen () const
 
void PrintVector (const Eigen::Vector3d &v) const
 
void PrintVector2D (const Eigen::Vector2d &v) const
 
void PublishCommand ()
 

Private Attributes

int gait_combo_
 
xpp::State3dEuler goal_geom_
 
bool optimize_
 
bool optimize_phase_durations_
 
bool play_initialization_
 
bool plot_trajectory_
 
bool publish_optimized_trajectory_
 
double replay_speed_
 
int robot_
 
int terrain_
 
double total_duration_
 
::ros::Publisher user_command_pub_
 the output message to TOWR. More...
 
bool visualize_trajectory_
 

Detailed Description

Translates user input into the ROS message TowrCommand.msg.

This includes high level input about where to go (e.g. converting keyboard input into a goal state), which terrain to visualize, etc.

Definition at line 45 of file towr_user_interface.h.

Constructor & Destructor Documentation

towr::TowrUserInterface::TowrUserInterface ( )

Constructs default object to interact with framework.

Definition at line 55 of file towr_user_interface.cc.

virtual towr::TowrUserInterface::~TowrUserInterface ( )
virtualdefault

Member Function Documentation

int towr::TowrUserInterface::AdvanceCircularBuffer ( int &  curr,
int  max 
) const
private

Definition at line 323 of file towr_user_interface.cc.

void towr::TowrUserInterface::CallbackKey ( int  c)

Called whenever a keyboard key is pressed.

Parameters
cUnicode character of that key (see ncurses library).

Definition at line 189 of file towr_user_interface.cc.

void towr::TowrUserInterface::PrintScreen ( ) const
private

Definition at line 85 of file towr_user_interface.cc.

void towr::TowrUserInterface::PrintVector ( const Eigen::Vector3d v) const
private

Definition at line 329 of file towr_user_interface.cc.

void towr::TowrUserInterface::PrintVector2D ( const Eigen::Vector2d v) const
private

Definition at line 335 of file towr_user_interface.cc.

void towr::TowrUserInterface::PublishCommand ( )
private

Definition at line 296 of file towr_user_interface.cc.

Member Data Documentation

int towr::TowrUserInterface::gait_combo_
private

Definition at line 67 of file towr_user_interface.h.

xpp::State3dEuler towr::TowrUserInterface::goal_geom_
private

Definition at line 65 of file towr_user_interface.h.

bool towr::TowrUserInterface::optimize_
private

Definition at line 73 of file towr_user_interface.h.

bool towr::TowrUserInterface::optimize_phase_durations_
private

Definition at line 76 of file towr_user_interface.h.

bool towr::TowrUserInterface::play_initialization_
private

Definition at line 70 of file towr_user_interface.h.

bool towr::TowrUserInterface::plot_trajectory_
private

Definition at line 72 of file towr_user_interface.h.

bool towr::TowrUserInterface::publish_optimized_trajectory_
private

Definition at line 74 of file towr_user_interface.h.

double towr::TowrUserInterface::replay_speed_
private

Definition at line 71 of file towr_user_interface.h.

int towr::TowrUserInterface::robot_
private

Definition at line 68 of file towr_user_interface.h.

int towr::TowrUserInterface::terrain_
private

Definition at line 66 of file towr_user_interface.h.

double towr::TowrUserInterface::total_duration_
private

Definition at line 75 of file towr_user_interface.h.

::ros::Publisher towr::TowrUserInterface::user_command_pub_
private

the output message to TOWR.

Definition at line 60 of file towr_user_interface.h.

bool towr::TowrUserInterface::visualize_trajectory_
private

Definition at line 69 of file towr_user_interface.h.


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


towr_ros
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 2 2021 02:14:22