#include <base_kinematics.h>
Public Member Functions | |
| bool | init (pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node, std::string link_name) |
Public Attributes | |
| double | caster_position_error_ |
| difference between desired and actual angles of the casters More... | |
| double | caster_speed_ |
| remembers the caster's current speed More... | |
| double | caster_speed_error_ |
| difference between desired and actual speeds of the casters More... | |
| double | caster_speed_filtered_ |
| caster speed filtered with alpha More... | |
| int | caster_stuck_ |
| remembers if the caster is stalled More... | |
| pr2_mechanism_model::JointState * | joint_ |
| JointState for this caster joint. More... | |
| std::string | joint_name_ |
| name of the joint More... | |
| std::string | link_name_ |
| name of the link More... | |
| int | num_children_ |
| the number of child wheels that are attached to this caster More... | |
| geometry_msgs::Point | offset_ |
| offset from the center of the base More... | |
| BaseKinematics * | parent_ |
| BaseKinematics to which this caster belongs. More... | |
| double | steer_angle_actual_ |
| actual caster steer angles More... | |
| double | steer_angle_desired_ |
| actual caster steer angles More... | |
| double | steer_angle_stored_ |
| stored caster steer angles More... | |
| double | steer_velocity_desired_ |
| vector of desired caster steer speeds More... | |
Definition at line 142 of file base_kinematics.h.
| bool Caster::init | ( | pr2_mechanism_model::RobotState * | robot_state, |
| ros::NodeHandle & | node, | ||
| std::string | link_name | ||
| ) |
Definition at line 100 of file base_kinematics.cpp.
| double controller::Caster::caster_position_error_ |
difference between desired and actual angles of the casters
Definition at line 201 of file base_kinematics.h.
| double controller::Caster::caster_speed_ |
remembers the caster's current speed
Definition at line 216 of file base_kinematics.h.
| double controller::Caster::caster_speed_error_ |
difference between desired and actual speeds of the casters
Definition at line 206 of file base_kinematics.h.
| double controller::Caster::caster_speed_filtered_ |
caster speed filtered with alpha
Definition at line 211 of file base_kinematics.h.
| int controller::Caster::caster_stuck_ |
remembers if the caster is stalled
Definition at line 221 of file base_kinematics.h.
| pr2_mechanism_model::JointState* controller::Caster::joint_ |
JointState for this caster joint.
Definition at line 149 of file base_kinematics.h.
| std::string controller::Caster::joint_name_ |
name of the joint
Definition at line 164 of file base_kinematics.h.
| std::string controller::Caster::link_name_ |
name of the link
Definition at line 159 of file base_kinematics.h.
| int controller::Caster::num_children_ |
the number of child wheels that are attached to this caster
Definition at line 176 of file base_kinematics.h.
| geometry_msgs::Point controller::Caster::offset_ |
offset from the center of the base
Definition at line 154 of file base_kinematics.h.
| BaseKinematics* controller::Caster::parent_ |
BaseKinematics to which this caster belongs.
Definition at line 171 of file base_kinematics.h.
| double controller::Caster::steer_angle_actual_ |
actual caster steer angles
Definition at line 181 of file base_kinematics.h.
| double controller::Caster::steer_angle_desired_ |
actual caster steer angles
Definition at line 186 of file base_kinematics.h.
| double controller::Caster::steer_angle_stored_ |
stored caster steer angles
Definition at line 196 of file base_kinematics.h.
| double controller::Caster::steer_velocity_desired_ |
vector of desired caster steer speeds
Definition at line 191 of file base_kinematics.h.