#include <base_kinematics.h>
Public Member Functions | |
| void | computeWheelPositions () |
| Computes 2d postion of every wheel relative to the center of the base. More... | |
| bool | init (pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node) |
| Loads BaseKinematic's information from the xml description file and param server. More... | |
| geometry_msgs::Twist | pointVel2D (const geometry_msgs::Point &pos, const geometry_msgs::Twist &vel) |
| Computes 2d velocity of a point at relative distance pos to another point with velocity (and rotation (z)) vel. More... | |
Public Attributes | |
| std::vector< Caster > | caster_ |
| vector of every caster attached to the base More... | |
| double | MAX_DT_ |
| maximum dT used in computation of interpolated velocity command More... | |
| std::string | name_ |
| name of this BaseKinematics (generally associated with whatever controller is using it) More... | |
| int | num_casters_ |
| number of casters connected to the base More... | |
| int | num_wheels_ |
| number of wheels connected to the base More... | |
| std::string | robot_base_id_ |
| Name(string id) of the robot base frame. More... | |
| pr2_mechanism_model::RobotState * | robot_state_ |
| remembers everything about the state of the robot More... | |
| std::vector< Wheel > | wheel_ |
| vector of every wheel attached to the base More... | |
| std::string | xml_caster_name_ |
| the name of the casters in the xml file More... | |
| std::string | xml_wheel_name_ |
| the name of the wheels in the xml file More... | |
Definition at line 229 of file base_kinematics.h.
| void BaseKinematics::computeWheelPositions | ( | ) |
Computes 2d postion of every wheel relative to the center of the base.
Definition at line 218 of file base_kinematics.cpp.
| bool BaseKinematics::init | ( | pr2_mechanism_model::RobotState * | robot_state, |
| ros::NodeHandle & | node | ||
| ) |
Loads BaseKinematic's information from the xml description file and param server.
| robot_state | The robot's current state |
| config | Tiny xml element pointing to its controller |
Definition at line 156 of file base_kinematics.cpp.
| geometry_msgs::Twist BaseKinematics::pointVel2D | ( | const geometry_msgs::Point & | pos, |
| const geometry_msgs::Twist & | vel | ||
| ) |
Computes 2d velocity of a point at relative distance pos to another point with velocity (and rotation (z)) vel.
| pos | The position of the object relative to the center of rotation |
| vel | Velocity of the center of rotation |
Definition at line 227 of file base_kinematics.cpp.
| std::vector<Caster> controller::BaseKinematics::caster_ |
vector of every caster attached to the base
Definition at line 277 of file base_kinematics.h.
| double controller::BaseKinematics::MAX_DT_ |
maximum dT used in computation of interpolated velocity command
Definition at line 297 of file base_kinematics.h.
| std::string controller::BaseKinematics::name_ |
name of this BaseKinematics (generally associated with whatever controller is using it)
Definition at line 292 of file base_kinematics.h.
| int controller::BaseKinematics::num_casters_ |
number of casters connected to the base
Definition at line 267 of file base_kinematics.h.
| int controller::BaseKinematics::num_wheels_ |
number of wheels connected to the base
Definition at line 262 of file base_kinematics.h.
| std::string controller::BaseKinematics::robot_base_id_ |
Name(string id) of the robot base frame.
Definition at line 302 of file base_kinematics.h.
| pr2_mechanism_model::RobotState* controller::BaseKinematics::robot_state_ |
remembers everything about the state of the robot
Definition at line 257 of file base_kinematics.h.
| std::vector<Wheel> controller::BaseKinematics::wheel_ |
vector of every wheel attached to the base
Definition at line 272 of file base_kinematics.h.
| std::string controller::BaseKinematics::xml_caster_name_ |
the name of the casters in the xml file
Definition at line 282 of file base_kinematics.h.
| std::string controller::BaseKinematics::xml_wheel_name_ |
the name of the wheels in the xml file
Definition at line 287 of file base_kinematics.h.