controller Class Reference

#include <controller.h>

Public Member Functions
void	cmd_vel_cb (const geometry_msgs::Twist &vel)
	controller (ros::NodeHandle &nh, ros::NodeHandle &nh_private)
void	get_params ()
void	init_vars ()
void	odom_cb (const nav_msgs::Odometry &)
void	stop_bot ()
void	vel_publish ()

Private Attributes
ros::Publisher	back_left_cmd_pub
ros::Publisher	back_right_cmd_pub
float	diag_dist
ros::Publisher	front_left_cmd_pub
ros::Publisher	front_right_cmd_pub
float	max_angular_vel
float	max_lin_vel
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
ros::Subscriber	odom_sub_
std_msgs::Float64	omega_1
std_msgs::Float64	omega_2
std_msgs::Float64	omega_3
std_msgs::Float64	omega_4
float	vel_mul
ros::Subscriber	vel_sub
geometry_msgs::Twist	velocity
float	wheel_rad
float	x_dot
float	y_dot
float	yaw

Detailed Description

Definition at line 12 of file controller.h.

Constructor & Destructor Documentation

controller()

controller::controller	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	nh_private
	)

Definition at line 9 of file controller.cpp.

Member Function Documentation

cmd_vel_cb()

void controller::cmd_vel_cb

(

const geometry_msgs::Twist &

vel

)

Definition at line 61 of file controller.cpp.

get_params()

void controller::get_params

(

)

Definition at line 118 of file controller.cpp.

init_vars()

void controller::init_vars

(

)

Definition at line 30 of file controller.cpp.

odom_cb()

void controller::odom_cb

(

const nav_msgs::Odometry &

odom

)

Definition at line 42 of file controller.cpp.

stop_bot()

void controller::stop_bot

(

)

Definition at line 108 of file controller.cpp.

vel_publish()

void controller::vel_publish

(

)

Definition at line 100 of file controller.cpp.

Member Data Documentation

back_left_cmd_pub

ros::Publisher controller::back_left_cmd_pub

private

Definition at line 39 of file controller.h.

back_right_cmd_pub

ros::Publisher controller::back_right_cmd_pub

private

Definition at line 38 of file controller.h.

diag_dist

float controller::diag_dist

private

Definition at line 47 of file controller.h.

front_left_cmd_pub

ros::Publisher controller::front_left_cmd_pub

private

Definition at line 37 of file controller.h.

front_right_cmd_pub

ros::Publisher controller::front_right_cmd_pub

private

Definition at line 36 of file controller.h.

max_angular_vel

float controller::max_angular_vel

private

Definition at line 49 of file controller.h.

max_lin_vel

float controller::max_lin_vel

private

Definition at line 49 of file controller.h.

nh_

ros::NodeHandle controller::nh_

private

Definition at line 30 of file controller.h.

nh_private_

ros::NodeHandle controller::nh_private_

private

Definition at line 31 of file controller.h.

odom_sub_

ros::Subscriber controller::odom_sub_

private

Definition at line 34 of file controller.h.

omega_1

std_msgs::Float64 controller::omega_1

private

Definition at line 43 of file controller.h.

omega_2

std_msgs::Float64 controller::omega_2

private

Definition at line 43 of file controller.h.

omega_3

std_msgs::Float64 controller::omega_3

private

Definition at line 43 of file controller.h.

omega_4

std_msgs::Float64 controller::omega_4

private

Definition at line 43 of file controller.h.

vel_mul

float controller::vel_mul

private

Definition at line 47 of file controller.h.

vel_sub

ros::Subscriber controller::vel_sub

private

Definition at line 33 of file controller.h.

velocity

geometry_msgs::Twist controller::velocity

private

Definition at line 41 of file controller.h.

wheel_rad

float controller::wheel_rad

private

Definition at line 47 of file controller.h.

x_dot

float controller::x_dot

private

Definition at line 44 of file controller.h.

y_dot

float controller::y_dot

private

Definition at line 44 of file controller.h.

yaw

float controller::yaw

private

Definition at line 45 of file controller.h.

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

• controller.h
• controller.cpp