ROSComm Class Reference

Inheritance diagram for ROSComm:

Public Member Functions
	ROSComm (const ros::NodeHandle &n, double sigma_x, double sigma_theta, double cov_x_y, double cov_x_theta, double cov_y_theta, size_t num_wheels, std::vector< std::string > joint_names)
virtual void	send_odometry (double x, double y, double theta, double v_x, double v_theta, double wheelpos_l, double wheelpos_r)
void	setTFPrefix (const std::string &tf_prefix)
Public Member Functions inherited from Comm
virtual	~Comm ()

Private Member Functions
void	populateCovariance (nav_msgs::Odometry &msg, double v_x, double v_theta)

Private Attributes
double	cov_x_theta_
double	cov_x_y_
double	cov_y_theta_
std::vector< std::string >	joint_names_
ros::Publisher	joint_pub_
ros::NodeHandle	n_
size_t	num_wheels_
tf::TransformBroadcaster	odom_broadcaster_
ros::Publisher	odom_pub_
bool	publish_tf_
double	sigma_theta_
double	sigma_x_
std::string	tf_prefix_

Detailed Description

Definition at line 42 of file volksbot_node.cpp.

Constructor & Destructor Documentation

ROSComm()

ROSComm::ROSComm ( const ros::NodeHandle &  n, double  sigma_x, double  sigma_theta, double  cov_x_y, double  cov_x_theta, double  cov_y_theta, size_t  num_wheels, std::vector< std::string >  joint_names  )

inline

Definition at line 45 of file volksbot_node.cpp.

Member Function Documentation

populateCovariance()

void ROSComm::populateCovariance ( nav_msgs::Odometry &  msg, double  v_x, double  v_theta  )

private

Definition at line 92 of file volksbot_node.cpp.

send_odometry()

void ROSComm::send_odometry ( double  x, double  y, double  theta, double  v_x, double  v_theta, double  wheelpos_l, double  wheelpos_r  )

virtual

Implements Comm.

Definition at line 144 of file volksbot_node.cpp.

setTFPrefix()

void ROSComm::setTFPrefix

(

const std::string &

tf_prefix

)

Definition at line 87 of file volksbot_node.cpp.

Member Data Documentation

cov_x_theta_

double ROSComm::cov_x_theta_

private

Definition at line 76 of file volksbot_node.cpp.

cov_x_y_

double ROSComm::cov_x_y_

private

Definition at line 76 of file volksbot_node.cpp.

cov_y_theta_

double ROSComm::cov_y_theta_

private

Definition at line 76 of file volksbot_node.cpp.

joint_names_

std::vector<std::string> ROSComm::joint_names_

private

Definition at line 84 of file volksbot_node.cpp.

joint_pub_

ros::Publisher ROSComm::joint_pub_

private

Definition at line 82 of file volksbot_node.cpp.

n_

ros::NodeHandle ROSComm::n_

private

Definition at line 75 of file volksbot_node.cpp.

num_wheels_

size_t ROSComm::num_wheels_

private

Definition at line 83 of file volksbot_node.cpp.

odom_broadcaster_

tf::TransformBroadcaster ROSComm::odom_broadcaster_

private

Definition at line 80 of file volksbot_node.cpp.

odom_pub_

ros::Publisher ROSComm::odom_pub_

private

Definition at line 81 of file volksbot_node.cpp.

publish_tf_

bool ROSComm::publish_tf_

private

Definition at line 77 of file volksbot_node.cpp.

sigma_theta_

double ROSComm::sigma_theta_

private

Definition at line 76 of file volksbot_node.cpp.

sigma_x_

double ROSComm::sigma_x_

private

Definition at line 76 of file volksbot_node.cpp.

tf_prefix_

std::string ROSComm::tf_prefix_

private

Definition at line 78 of file volksbot_node.cpp.

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

• volksbot_node.cpp