cob_omni_drive_controller::OdometryController Class Reference

Inheritance diagram for cob_omni_drive_controller::OdometryController:

Public Member Functions
virtual bool	init (hardware_interface::JointStateInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
	OdometryController ()
virtual bool	srv_reset (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
virtual void	starting (const ros::Time &time)
virtual void	stopping (const ros::Time &time)
virtual void	update (const ros::Time &time, const ros::Duration &period)
Public Member Functions inherited from cob_omni_drive_controller::GeomController< hardware_interface::JointStateInterface, UndercarriageGeom >
bool	init (hardware_interface::JointStateInterface *hw, const wheel_params_t &wheel_params)
bool	init (hardware_interface::JointStateInterface *hw, ros::NodeHandle &controller_nh)
Public Member Functions inherited from cob_omni_drive_controller::GeomControllerBase< hardware_interface::JointStateInterface ::ResourceHandleType, UndercarriageGeom >
void	updateState ()

Private Member Functions
void	publish (const ros::TimerEvent &event)

Private Attributes
std::string	child_frame_id_
std::string	frame_id_
bool	invert_odom_tf_ = false
boost::mutex	mutex_
nav_msgs::Odometry	odom_
geometry_msgs::TransformStamped	odom_tf_
boost::scoped_ptr< OdometryTracker >	odom_tracker_
PlatformState	platform_state_
ros::Timer	publish_timer_
bool	reset_
ros::ServiceServer	service_reset_
ros::Time	stop_time_
boost::scoped_ptr< tf::TransformBroadcaster >	tf_broadcast_odometry_
ros::Publisher	topic_pub_odometry_

Additional Inherited Members
Public Types inherited from cob_omni_drive_controller::GeomController< hardware_interface::JointStateInterface, UndercarriageGeom >
typedef std::vector< typename UndercarriageGeom ::WheelParams >	wheel_params_t
Protected Member Functions inherited from cob_omni_drive_controller::GeomControllerBase< hardware_interface::JointStateInterface ::ResourceHandleType, UndercarriageGeom >
bool	setup (const std::vector< typename UndercarriageGeom ::WheelParams > &wheel_params)
Protected Attributes inherited from cob_omni_drive_controller::GeomControllerBase< hardware_interface::JointStateInterface ::ResourceHandleType, UndercarriageGeom >
std::vector< hardware_interface::JointStateInterface ::ResourceHandleType >	drive_joints_
boost::scoped_ptr< UndercarriageGeom >	geom_
std::vector< hardware_interface::JointStateInterface ::ResourceHandleType >	steer_joints_
std::vector< WheelState >	wheel_states_

Detailed Description

Definition at line 35 of file odom_plugin.cpp.

Constructor & Destructor Documentation

OdometryController()

cob_omni_drive_controller::OdometryController::OdometryController ( )

inline

Definition at line 38 of file odom_plugin.cpp.

Member Function Documentation

init()

virtual bool cob_omni_drive_controller::OdometryController::init ( hardware_interface::JointStateInterface *  hw, ros::NodeHandle &  root_nh, ros::NodeHandle &  controller_nh  )

inlinevirtual

Definition at line 40 of file odom_plugin.cpp.

publish()

void cob_omni_drive_controller::OdometryController::publish ( const ros::TimerEvent &  event )

inlineprivate

Definition at line 139 of file odom_plugin.cpp.

srv_reset()

virtual bool cob_omni_drive_controller::OdometryController::srv_reset ( std_srvs::Trigger::Request &  req, std_srvs::Trigger::Response &  res  )

inlinevirtual

Definition at line 85 of file odom_plugin.cpp.

starting()

virtual void cob_omni_drive_controller::OdometryController::starting ( const ros::Time &  time )

inlinevirtual

Definition at line 80 of file odom_plugin.cpp.

stopping()

virtual void cob_omni_drive_controller::OdometryController::stopping ( const ros::Time &  time )

inlinevirtual

Definition at line 119 of file odom_plugin.cpp.

update()

virtual void cob_omni_drive_controller::OdometryController::update ( const ros::Time &  time, const ros::Duration &  period  )

inlinevirtual

Definition at line 101 of file odom_plugin.cpp.

Member Data Documentation

child_frame_id_

std::string cob_omni_drive_controller::OdometryController::child_frame_id_

private

Definition at line 134 of file odom_plugin.cpp.

frame_id_

std::string cob_omni_drive_controller::OdometryController::frame_id_

private

Definition at line 134 of file odom_plugin.cpp.

invert_odom_tf_

bool cob_omni_drive_controller::OdometryController::invert_odom_tf_ = false

private

Definition at line 132 of file odom_plugin.cpp.

mutex_

boost::mutex cob_omni_drive_controller::OdometryController::mutex_

private

Definition at line 133 of file odom_plugin.cpp.

odom_

nav_msgs::Odometry cob_omni_drive_controller::OdometryController::odom_

private

Definition at line 130 of file odom_plugin.cpp.

odom_tf_

geometry_msgs::TransformStamped cob_omni_drive_controller::OdometryController::odom_tf_

private

Definition at line 135 of file odom_plugin.cpp.

odom_tracker_

boost::scoped_ptr<OdometryTracker> cob_omni_drive_controller::OdometryController::odom_tracker_

private

Definition at line 128 of file odom_plugin.cpp.

platform_state_

PlatformState cob_omni_drive_controller::OdometryController::platform_state_

private

Definition at line 122 of file odom_plugin.cpp.

publish_timer_

ros::Timer cob_omni_drive_controller::OdometryController::publish_timer_

private

Definition at line 129 of file odom_plugin.cpp.

reset_

bool cob_omni_drive_controller::OdometryController::reset_

private

Definition at line 131 of file odom_plugin.cpp.

service_reset_

ros::ServiceServer cob_omni_drive_controller::OdometryController::service_reset_

private

Definition at line 125 of file odom_plugin.cpp.

stop_time_

ros::Time cob_omni_drive_controller::OdometryController::stop_time_

private

Definition at line 136 of file odom_plugin.cpp.

tf_broadcast_odometry_

boost::scoped_ptr<tf::TransformBroadcaster> cob_omni_drive_controller::OdometryController::tf_broadcast_odometry_

private

Definition at line 127 of file odom_plugin.cpp.

topic_pub_odometry_

ros::Publisher cob_omni_drive_controller::OdometryController::topic_pub_odometry_

private

Definition at line 124 of file odom_plugin.cpp.

---

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

• odom_plugin.cpp