Controller Class Reference

Public Member Functions
	Controller (const std::string &worldFrame, const std::string &frame, const ros::NodeHandle &n)
void	run (double frequency)

Private Types
enum	State { Idle = 0, Automatic = 1, TakingOff = 2, Landing = 3 }

Private Member Functions
void	getTransform (const std::string &sourceFrame, const std::string &targetFrame, tf::StampedTransform &result)
void	goalChanged (const geometry_msgs::PoseStamped::ConstPtr &msg)
void	iteration (const ros::TimerEvent &e)
bool	land (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	pidReset ()
bool	takeoff (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

Private Attributes
std::string	m_frame
geometry_msgs::PoseStamped	m_goal
tf::TransformListener	m_listener
PID	m_pidX
PID	m_pidY
PID	m_pidYaw
PID	m_pidZ
ros::Publisher	m_pubNav
ros::ServiceServer	m_serviceLand
ros::ServiceServer	m_serviceTakeoff
float	m_startZ
State	m_state
ros::Subscriber	m_subscribeGoal
float	m_thrust
std::string	m_worldFrame

Detailed Description

Definition at line 17 of file controller.cpp.

Member Enumeration Documentation

State

enum Controller::State

private

Enumerator
Idle
Automatic
TakingOff
Landing

Definition at line 217 of file controller.cpp.

Constructor & Destructor Documentation

Controller()

Controller::Controller ( const std::string &  worldFrame, const std::string &  frame, const ros::NodeHandle &  n  )

inline

Definition at line 21 of file controller.cpp.

Member Function Documentation

getTransform()

void Controller::getTransform ( const std::string &  sourceFrame, const std::string &  targetFrame, tf::StampedTransform &  result  )

inlineprivate

Definition at line 119 of file controller.cpp.

goalChanged()

void Controller::goalChanged ( const geometry_msgs::PoseStamped::ConstPtr &  msg )

inlineprivate

Definition at line 89 of file controller.cpp.

iteration()

void Controller::iteration ( const ros::TimerEvent &  e )

inlineprivate

Definition at line 135 of file controller.cpp.

land()

bool Controller::land ( std_srvs::Empty::Request &  req, std_srvs::Empty::Response &  res  )

inlineprivate

Definition at line 109 of file controller.cpp.

pidReset()

void Controller::pidReset ( )

inlineprivate

Definition at line 127 of file controller.cpp.

run()

void Controller::run ( double  frequency )

inline

Definition at line 81 of file controller.cpp.

takeoff()

bool Controller::takeoff ( std_srvs::Empty::Request &  req, std_srvs::Empty::Response &  res  )

inlineprivate

Definition at line 95 of file controller.cpp.

Member Data Documentation

m_frame

std::string Controller::m_frame

private

Definition at line 227 of file controller.cpp.

m_goal

geometry_msgs::PoseStamped Controller::m_goal

private

Definition at line 235 of file controller.cpp.

m_listener

tf::TransformListener Controller::m_listener

private

Definition at line 229 of file controller.cpp.

m_pidX

PID Controller::m_pidX

private

Definition at line 230 of file controller.cpp.

m_pidY

PID Controller::m_pidY

private

Definition at line 231 of file controller.cpp.

m_pidYaw

PID Controller::m_pidYaw

private

Definition at line 233 of file controller.cpp.

m_pidZ

PID Controller::m_pidZ

private

Definition at line 232 of file controller.cpp.

m_pubNav

ros::Publisher Controller::m_pubNav

private

Definition at line 228 of file controller.cpp.

m_serviceLand

ros::ServiceServer Controller::m_serviceLand

private

Definition at line 238 of file controller.cpp.

m_serviceTakeoff

ros::ServiceServer Controller::m_serviceTakeoff

private

Definition at line 237 of file controller.cpp.

m_startZ

float Controller::m_startZ

private

Definition at line 240 of file controller.cpp.

m_state

State Controller::m_state

private

Definition at line 234 of file controller.cpp.

m_subscribeGoal

ros::Subscriber Controller::m_subscribeGoal

private

Definition at line 236 of file controller.cpp.

m_thrust

float Controller::m_thrust

private

Definition at line 239 of file controller.cpp.

m_worldFrame

std::string Controller::m_worldFrame

private

Definition at line 226 of file controller.cpp.

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

• controller.cpp