Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes | List of all members
asr_flir_ptu_controller::PTUController Class Reference

#include <PTUController.h>

Public Member Functions

double getCurrentPan ()
 
double getCurrentTilt ()
 
std::string getDefaultStateCmdTopicName ()
 
std::string getDefaultStateTopicName ()
 
double getMargin () const
 
double getMaximumPan ()
 
double getMaximumTilt ()
 
int getMaxSteps ()
 
double getMinimumPan ()
 
double getMinimumTilt ()
 
double getTimeToWait ()
 
double getToleranceValue ()
 
 PTUController (ros::NodeHandle &n, std::string name)
 
void setMargin (double value)
 
 ~PTUController ()
 

Static Public Member Functions

static double getRadianToDegree ()
 

Private Member Functions

void currentStateArrived (const asr_flir_ptu_driver::State::ConstPtr &msg)
 
void goalCB ()
 
void preemptCB ()
 
void setSettings ()
 
bool validate (double pan, double tilt)
 

Private Attributes

ros::ServiceClient alive
 
std::string alive_service
 
std::string commandTopicName
 
int count
 
double current_pan
 
double current_tilt
 
double desired_pan
 
double desired_tilt
 
std::vector< std::map< std::string, double > > forbiddenAreas
 
ros::Time lastStateTime
 
double margin
 
double max_pan
 
double max_tilt
 
int maxSteps
 
double min_pan
 
double min_tilt
 
ros::NodeHandle nodeHandle
 
int seq_num
 
actionlib::SimpleActionServer< asr_flir_ptu_controller::PTUMovementAction > simpleActionServer
 
asr_flir_ptu_controller::PTUMovementFeedback simpleActionServerFeedback
 
asr_flir_ptu_controller::PTUMovementResult simpleActionServerResult
 
double startDistance
 
sensor_msgs::JointState stateCommandMessage
 
ros::Publisher stateCommandPublisher
 
ros::Subscriber stateSubscriber
 
sensor_msgs::JointState target_joint
 
double timeToWait
 
double tolerance
 
std::string topicName
 
ros::ServiceClient validate_client
 
std::string validation_service
 

Static Private Attributes

static const double RAD_TO_DEG = 180.0 / M_PI
 

Detailed Description

Definition at line 12 of file PTUController.h.

Constructor & Destructor Documentation

◆ PTUController()

asr_flir_ptu_controller::PTUController::PTUController ( ros::NodeHandle &  n,
std::string  name 
)

Definition at line 6 of file PTUController.cpp.

◆ ~PTUController()

asr_flir_ptu_controller::PTUController::~PTUController ( )

Definition at line 30 of file PTUController.cpp.

Member Function Documentation

◆ currentStateArrived()

void asr_flir_ptu_controller::PTUController::currentStateArrived ( const asr_flir_ptu_driver::State::ConstPtr &  msg)
private

Definition at line 32 of file PTUController.cpp.

◆ getCurrentPan()

double asr_flir_ptu_controller::PTUController::getCurrentPan ( )

Definition at line 181 of file PTUController.cpp.

◆ getCurrentTilt()

double asr_flir_ptu_controller::PTUController::getCurrentTilt ( )

Definition at line 184 of file PTUController.cpp.

◆ getDefaultStateCmdTopicName()

std::string asr_flir_ptu_controller::PTUController::getDefaultStateCmdTopicName ( )

Definition at line 188 of file PTUController.cpp.

◆ getDefaultStateTopicName()

std::string asr_flir_ptu_controller::PTUController::getDefaultStateTopicName ( )

Definition at line 191 of file PTUController.cpp.

◆ getMargin()

double asr_flir_ptu_controller::PTUController::getMargin ( ) const

Definition at line 203 of file PTUController.cpp.

◆ getMaximumPan()

double asr_flir_ptu_controller::PTUController::getMaximumPan ( )

Definition at line 167 of file PTUController.cpp.

◆ getMaximumTilt()

double asr_flir_ptu_controller::PTUController::getMaximumTilt ( )

Definition at line 174 of file PTUController.cpp.

◆ getMaxSteps()

int asr_flir_ptu_controller::PTUController::getMaxSteps ( )

Definition at line 200 of file PTUController.cpp.

◆ getMinimumPan()

double asr_flir_ptu_controller::PTUController::getMinimumPan ( )

Definition at line 170 of file PTUController.cpp.

◆ getMinimumTilt()

double asr_flir_ptu_controller::PTUController::getMinimumTilt ( )

Definition at line 177 of file PTUController.cpp.

◆ getRadianToDegree()

static double asr_flir_ptu_controller::PTUController::getRadianToDegree ( )
inlinestatic

Definition at line 31 of file PTUController.h.

◆ getTimeToWait()

double asr_flir_ptu_controller::PTUController::getTimeToWait ( )

Definition at line 197 of file PTUController.cpp.

◆ getToleranceValue()

double asr_flir_ptu_controller::PTUController::getToleranceValue ( )

Definition at line 194 of file PTUController.cpp.

◆ goalCB()

void asr_flir_ptu_controller::PTUController::goalCB ( )
private

Definition at line 79 of file PTUController.cpp.

◆ preemptCB()

void asr_flir_ptu_controller::PTUController::preemptCB ( )
private

Definition at line 150 of file PTUController.cpp.

◆ setMargin()

void asr_flir_ptu_controller::PTUController::setMargin ( double  value)

Definition at line 208 of file PTUController.cpp.

◆ setSettings()

void asr_flir_ptu_controller::PTUController::setSettings ( )
private

Get all requiredParameters from the nodehandle

Definition at line 157 of file PTUController.cpp.

◆ validate()

bool asr_flir_ptu_controller::PTUController::validate ( double  pan,
double  tilt 
)
private

Member Data Documentation

◆ alive

ros::ServiceClient asr_flir_ptu_controller::PTUController::alive
private

Definition at line 52 of file PTUController.h.

◆ alive_service

std::string asr_flir_ptu_controller::PTUController::alive_service
private

Definition at line 76 of file PTUController.h.

◆ commandTopicName

std::string asr_flir_ptu_controller::PTUController::commandTopicName
private

Definition at line 74 of file PTUController.h.

◆ count

int asr_flir_ptu_controller::PTUController::count
private

Definition at line 42 of file PTUController.h.

◆ current_pan

double asr_flir_ptu_controller::PTUController::current_pan
private

Definition at line 57 of file PTUController.h.

◆ current_tilt

double asr_flir_ptu_controller::PTUController::current_tilt
private

Definition at line 62 of file PTUController.h.

◆ desired_pan

double asr_flir_ptu_controller::PTUController::desired_pan
private

Definition at line 58 of file PTUController.h.

◆ desired_tilt

double asr_flir_ptu_controller::PTUController::desired_tilt
private

Definition at line 63 of file PTUController.h.

◆ forbiddenAreas

std::vector< std::map< std::string, double> > asr_flir_ptu_controller::PTUController::forbiddenAreas
private

Definition at line 72 of file PTUController.h.

◆ lastStateTime

ros::Time asr_flir_ptu_controller::PTUController::lastStateTime
private

Definition at line 47 of file PTUController.h.

◆ margin

double asr_flir_ptu_controller::PTUController::margin
private

Definition at line 71 of file PTUController.h.

◆ max_pan

double asr_flir_ptu_controller::PTUController::max_pan
private

Definition at line 59 of file PTUController.h.

◆ max_tilt

double asr_flir_ptu_controller::PTUController::max_tilt
private

Definition at line 64 of file PTUController.h.

◆ maxSteps

int asr_flir_ptu_controller::PTUController::maxSteps
private

Definition at line 68 of file PTUController.h.

◆ min_pan

double asr_flir_ptu_controller::PTUController::min_pan
private

Definition at line 60 of file PTUController.h.

◆ min_tilt

double asr_flir_ptu_controller::PTUController::min_tilt
private

Definition at line 65 of file PTUController.h.

◆ nodeHandle

ros::NodeHandle asr_flir_ptu_controller::PTUController::nodeHandle
private

Definition at line 46 of file PTUController.h.

◆ RAD_TO_DEG

const double asr_flir_ptu_controller::PTUController::RAD_TO_DEG = 180.0 / M_PI
staticprivate

Definition at line 55 of file PTUController.h.

◆ seq_num

int asr_flir_ptu_controller::PTUController::seq_num
private

Definition at line 66 of file PTUController.h.

◆ simpleActionServer

actionlib::SimpleActionServer<asr_flir_ptu_controller::PTUMovementAction> asr_flir_ptu_controller::PTUController::simpleActionServer
private

Definition at line 77 of file PTUController.h.

◆ simpleActionServerFeedback

asr_flir_ptu_controller::PTUMovementFeedback asr_flir_ptu_controller::PTUController::simpleActionServerFeedback
private

Definition at line 78 of file PTUController.h.

◆ simpleActionServerResult

asr_flir_ptu_controller::PTUMovementResult asr_flir_ptu_controller::PTUController::simpleActionServerResult
private

Definition at line 79 of file PTUController.h.

◆ startDistance

double asr_flir_ptu_controller::PTUController::startDistance
private

Definition at line 43 of file PTUController.h.

◆ stateCommandMessage

sensor_msgs::JointState asr_flir_ptu_controller::PTUController::stateCommandMessage
private

Definition at line 53 of file PTUController.h.

◆ stateCommandPublisher

ros::Publisher asr_flir_ptu_controller::PTUController::stateCommandPublisher
private

Definition at line 49 of file PTUController.h.

◆ stateSubscriber

ros::Subscriber asr_flir_ptu_controller::PTUController::stateSubscriber
private

Definition at line 50 of file PTUController.h.

◆ target_joint

sensor_msgs::JointState asr_flir_ptu_controller::PTUController::target_joint
private

Definition at line 45 of file PTUController.h.

◆ timeToWait

double asr_flir_ptu_controller::PTUController::timeToWait
private

Definition at line 69 of file PTUController.h.

◆ tolerance

double asr_flir_ptu_controller::PTUController::tolerance
private

Definition at line 70 of file PTUController.h.

◆ topicName

std::string asr_flir_ptu_controller::PTUController::topicName
private

Definition at line 73 of file PTUController.h.

◆ validate_client

ros::ServiceClient asr_flir_ptu_controller::PTUController::validate_client
private

Definition at line 51 of file PTUController.h.

◆ validation_service

std::string asr_flir_ptu_controller::PTUController::validation_service
private

Definition at line 75 of file PTUController.h.

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

asr_flir_ptu_controller
Author(s): Ralph Schleicher, Patrick Schlosser
autogenerated on Mon Feb 28 2022 21:40:13