Inheritance diagram for cob_omni_drive_controller::WheelController:

[legend]

Classes
class	PosCtrl

Public Member Functions
virtual bool	init (hardware_interface::VelocityJointInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)

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

Public Member Functions inherited from cob_omni_drive_controller::WheelControllerBase< GeomController< hardware_interface::VelocityJointInterface, UndercarriageCtrl > >
bool	setup (ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)

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

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

void	updateCtrl (const ros::Time &time, const ros::Duration &period)

Public Member Functions inherited from cob_omni_drive_controller::GeomController< hardware_interface::VelocityJointInterface, UndercarriageCtrl >
bool	init (hardware_interface::VelocityJointInterface *hw, const wheel_params_t &wheel_params)

bool	init (hardware_interface::VelocityJointInterface *hw, ros::NodeHandle &controller_nh)

Public Member Functions inherited from cob_omni_drive_controller::GeomControllerBase< hardware_interface::VelocityJointInterface ::ResourceHandleType, UndercarriageCtrl >
void	updateState ()

Public Attributes
class cob_omni_drive_controller::WheelController::PosCtrl	pos_ctrl_

Additional Inherited Members
Public Types inherited from cob_omni_drive_controller::GeomController< hardware_interface::VelocityJointInterface, UndercarriageCtrl >
typedef std::vector< typename UndercarriageCtrl ::WheelParams >	wheel_params_t

Protected Member Functions inherited from cob_omni_drive_controller::WheelControllerBase< GeomController< hardware_interface::VelocityJointInterface, UndercarriageCtrl > >
void	topicCallbackTwistCmd (const geometry_msgs::Twist::ConstPtr &msg)

Protected Member Functions inherited from cob_omni_drive_controller::GeomControllerBase< hardware_interface::VelocityJointInterface ::ResourceHandleType, UndercarriageCtrl >
bool	setup (const std::vector< typename UndercarriageCtrl ::WheelParams > &wheel_params)

Protected Attributes inherited from cob_omni_drive_controller::WheelControllerBase< GeomController< hardware_interface::VelocityJointInterface, UndercarriageCtrl > >
boost::scoped_ptr< realtime_tools::RealtimePublisher< cob_base_controller_utils::WheelCommands > >	commands_pub_

uint32_t	cycles_

double	max_vel_rot_

double	max_vel_trans_

boost::mutex	mutex_

uint32_t	pub_divider_

struct cob_omni_drive_controller::WheelControllerBase::Target	target_

ros::Duration	timeout_

ros::Subscriber	twist_subscriber_

std::vector< WheelCommand >	wheel_commands_

Protected Attributes inherited from cob_omni_drive_controller::GeomControllerBase< hardware_interface::VelocityJointInterface ::ResourceHandleType, UndercarriageCtrl >
std::vector< hardware_interface::VelocityJointInterface ::ResourceHandleType >	drive_joints_

boost::scoped_ptr< UndercarriageCtrl >	geom_

std::vector< hardware_interface::VelocityJointInterface ::ResourceHandleType >	steer_joints_

std::vector< WheelState >	wheel_states_

Detailed Description

Definition at line 27 of file control_plugin.cpp.

Member Function Documentation

◆ init()

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

inlinevirtual

Definition at line 30 of file control_plugin.cpp.

◆ update()

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

inlinevirtual

Definition at line 39 of file control_plugin.cpp.

Member Data Documentation

◆ pos_ctrl_

class cob_omni_drive_controller::WheelController::PosCtrl cob_omni_drive_controller::WheelController::pos_ctrl_

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

control_plugin.cpp

Classes

Public Member Functions