velocity_controller::ControllerNode Class Reference

#include <controller_node.h>

Inheritance diagram for velocity_controller::ControllerNode:

Public Member Functions
	ControllerNode (ros::NodeHandle &n)
	Construct a new Controller Node object. More...
Public Member Functions inherited from velocity_controller::Controller
	Controller ()
	Construct a new Controller object. More...
void	getSpeed (float *_v, float *_w)
	Returns the current speed values. More...
void	setGoalRadius (float _r)
	Set the Goal Radius. More...
void	setPath (std::shared_ptr< std::vector< PathPoint >> _path)
	Set the path the contorler has to follow. More...
void	setPID (float _Kp, float _Ki, float _Kd)
	sets the control parameters More...
void	setSpeedParams (float _max_v, float _max_w)
	Set the Speed Params of the controller. More...
void	setState (state s)
	Set the State (run stop step wait_step) More...
void	update (PathPoint _odom, float _delta_t)
	updates the controller with the current robot position More...

Public Attributes
ros::NodeHandle	n_
	Node handler to the root node. More...
ros::NodeHandle	n_param_
	Node handler to the current node. More...
std::unique_ptr< ros::Rate >	rate_

Private Member Functions
void	subCtrlCb (const std_msgs::String _cmd)
void	subPathCb (const nav_msgs::Path::ConstPtr &_path)
void	subPoseCb (const geometry_msgs::PoseWithCovarianceStampedConstPtr &_pose)

Private Attributes
float	goal_r_
float	Kd_val_
float	Ki_val_
float	Kp_val_
ros::Time	last_update_
float	max_vel_v_
float	max_vel_w_
ros::Publisher	pubCmdVel_
ros::Subscriber	subCtrl_
ros::Subscriber	subPath_
ros::Subscriber	subPose_
std::string	topic_cmdVel_
std::string	topic_ctrl_
std::string	topic_path_
std::string	topic_pose_

Additional Inherited Members
Protected Attributes inherited from velocity_controller::Controller
PathPoint	current_pose_

Detailed Description

Definition at line 15 of file controller_node.h.

Constructor & Destructor Documentation

velocity_controller::ControllerNode::ControllerNode

(

ros::NodeHandle &

n

)

Construct a new Controller Node object.

Parameters

n	the node handle to subscribe topics

Definition at line 33 of file controller_node.cpp.

Member Function Documentation

void velocity_controller::ControllerNode::subCtrlCb ( const std_msgs::String  _cmd )

private

Definition at line 157 of file controller_node.cpp.

void velocity_controller::ControllerNode::subPathCb ( const nav_msgs::Path::ConstPtr &  _path )

private

Definition at line 106 of file controller_node.cpp.

void velocity_controller::ControllerNode::subPoseCb ( const geometry_msgs::PoseWithCovarianceStampedConstPtr &  _pose )

private

Definition at line 76 of file controller_node.cpp.

Member Data Documentation

float velocity_controller::ControllerNode::goal_r_

private

Definition at line 41 of file controller_node.h.

float velocity_controller::ControllerNode::Kd_val_

private

Definition at line 44 of file controller_node.h.

float velocity_controller::ControllerNode::Ki_val_

private

Definition at line 43 of file controller_node.h.

float velocity_controller::ControllerNode::Kp_val_

private

Definition at line 42 of file controller_node.h.

ros::Time velocity_controller::ControllerNode::last_update_

private

Definition at line 45 of file controller_node.h.

float velocity_controller::ControllerNode::max_vel_v_

private

Definition at line 39 of file controller_node.h.

float velocity_controller::ControllerNode::max_vel_w_

private

Definition at line 40 of file controller_node.h.

ros::NodeHandle velocity_controller::ControllerNode::n_

Node handler to the root node.

Definition at line 26 of file controller_node.h.

ros::NodeHandle velocity_controller::ControllerNode::n_param_

Node handler to the current node.

Definition at line 27 of file controller_node.h.

ros::Publisher velocity_controller::ControllerNode::pubCmdVel_

private

Definition at line 31 of file controller_node.h.

std::unique_ptr<ros::Rate> velocity_controller::ControllerNode::rate_

Definition at line 28 of file controller_node.h.

ros::Subscriber velocity_controller::ControllerNode::subCtrl_

private

Definition at line 34 of file controller_node.h.

ros::Subscriber velocity_controller::ControllerNode::subPath_

private

Definition at line 33 of file controller_node.h.

ros::Subscriber velocity_controller::ControllerNode::subPose_

private

Definition at line 32 of file controller_node.h.

std::string velocity_controller::ControllerNode::topic_cmdVel_

private

Definition at line 35 of file controller_node.h.

std::string velocity_controller::ControllerNode::topic_ctrl_

private

Definition at line 38 of file controller_node.h.

std::string velocity_controller::ControllerNode::topic_path_

private

Definition at line 37 of file controller_node.h.

std::string velocity_controller::ControllerNode::topic_pose_

private

Definition at line 36 of file controller_node.h.

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

• controller_node.h
• controller_node.cpp