Inheritance diagram for cob_tricycle_controller::WheelController:

Classes
struct	Target

Public Member Functions
virtual bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &nh)

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

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

Public Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &, ros::NodeHandle &)

	MultiInterfaceController (bool allow_optional_interfaces=false)

Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)

virtual void	aborting (const ros::Time &)

bool	abortRequest (const ros::Time &time)

bool	abortRequest (const ros::Time &time)

	ControllerBase ()=default

	ControllerBase (const ControllerBase &)=delete

	ControllerBase (ControllerBase &&)=delete

bool	isAborted () const

bool	isAborted () const

bool	isInitialized () const

bool	isInitialized () const

bool	isRunning () const

bool	isRunning () const

bool	isStopped () const

bool	isStopped () const

bool	isWaiting () const

bool	isWaiting () const

ControllerBase &	operator= (const ControllerBase &)=delete

ControllerBase &	operator= (ControllerBase &&)=delete

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

virtual void	stopping (const ros::Time &)

virtual void	stopping (const ros::Time &)

bool	stopRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

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

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

virtual void	waiting (const ros::Time &)

virtual void	waiting (const ros::Time &)

bool	waitRequest (const ros::Time &time)

bool	waitRequest (const ros::Time &time)

virtual	~ControllerBase ()=default

Private Member Functions
void	topicCallbackTwistCmd (const geometry_msgs::Twist::ConstPtr &msg)

void	updateCommand ()

Private Attributes
boost::scoped_ptr< realtime_tools::RealtimePublisher< cob_base_controller_utils::WheelCommands > >	commands_pub_

uint32_t	cycles_

hardware_interface::JointHandle	drive_joint_

double	max_drive_rate_

double	max_steer_rate_

double	max_vel_rot_

double	max_vel_trans_

boost::mutex	mutex_

uint32_t	pub_divider_

hardware_interface::JointHandle	steer_joint_

struct cob_tricycle_controller::WheelController::Target	target_

ros::Duration	timeout_

ros::Subscriber	twist_subscriber_

WheelState	wheel_command_

WheelState	wheel_state_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

enum	ControllerState { ControllerState::CONSTRUCTED, ControllerState::INITIALIZED, ControllerState::RUNNING, ControllerState::STOPPED, ControllerState::WAITING, ControllerState::ABORTED }

Public Attributes inherited from controller_interface::ControllerBase
ControllerState	state_

Protected Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface >
bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface >
static void	clearClaims (hardware_interface::RobotHW *robot_hw)

static void	extractInterfaceResources (hardware_interface::RobotHW robot_hw_in, hardware_interface::RobotHW robot_hw_out)

static bool	hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)

static void	populateClaimedResources (hardware_interface::RobotHW *robot_hw, ClaimedResources &claimed_resources)

Protected Attributes inherited from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Definition at line 50 of file control_plugin.cpp.

Member Function Documentation

◆ init()

virtual bool cob_tricycle_controller::WheelController::init	(	hardware_interface::RobotHW *	robot_hw,
		ros::NodeHandle &	nh
	)

inlinevirtual

Reimplemented from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface >.

Definition at line 53 of file control_plugin.cpp.

◆ starting()

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

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 128 of file control_plugin.cpp.

◆ topicCallbackTwistCmd()

void cob_tricycle_controller::WheelController::topicCallbackTwistCmd ( const geometry_msgs::Twist::ConstPtr & msg )

inlineprivate

Definition at line 193 of file control_plugin.cpp.

◆ update()

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

inlinevirtual

Implements controller_interface::ControllerBase.

Definition at line 132 of file control_plugin.cpp.

◆ updateCommand()

void cob_tricycle_controller::WheelController::updateCommand ( )

inlineprivate

Definition at line 209 of file control_plugin.cpp.

Member Data Documentation

◆ commands_pub_

boost::scoped_ptr<realtime_tools::RealtimePublisher<cob_base_controller_utils::WheelCommands> > cob_tricycle_controller::WheelController::commands_pub_

private

Definition at line 185 of file control_plugin.cpp.

◆ cycles_

uint32_t cob_tricycle_controller::WheelController::cycles_

private

Definition at line 186 of file control_plugin.cpp.

◆ drive_joint_

hardware_interface::JointHandle cob_tricycle_controller::WheelController::drive_joint_

private

Definition at line 180 of file control_plugin.cpp.

◆ max_drive_rate_

double cob_tricycle_controller::WheelController::max_drive_rate_

private

Definition at line 191 of file control_plugin.cpp.

◆ max_steer_rate_

double cob_tricycle_controller::WheelController::max_steer_rate_

private

Definition at line 191 of file control_plugin.cpp.

◆ max_vel_rot_

double cob_tricycle_controller::WheelController::max_vel_rot_

private

Definition at line 190 of file control_plugin.cpp.

◆ max_vel_trans_

double cob_tricycle_controller::WheelController::max_vel_trans_

private

Definition at line 190 of file control_plugin.cpp.

◆ mutex_

boost::mutex cob_tricycle_controller::WheelController::mutex_

private

Definition at line 182 of file control_plugin.cpp.

◆ pub_divider_

uint32_t cob_tricycle_controller::WheelController::pub_divider_

private

Definition at line 187 of file control_plugin.cpp.

◆ steer_joint_

hardware_interface::JointHandle cob_tricycle_controller::WheelController::steer_joint_

private

Definition at line 179 of file control_plugin.cpp.

◆ target_

struct cob_tricycle_controller::WheelController::Target cob_tricycle_controller::WheelController::target_

private

◆ timeout_

ros::Duration cob_tricycle_controller::WheelController::timeout_

private

Definition at line 189 of file control_plugin.cpp.

◆ twist_subscriber_

ros::Subscriber cob_tricycle_controller::WheelController::twist_subscriber_

private

Definition at line 183 of file control_plugin.cpp.

◆ wheel_command_

WheelState cob_tricycle_controller::WheelController::wheel_command_

private

Definition at line 178 of file control_plugin.cpp.

◆ wheel_state_

WheelState cob_tricycle_controller::WheelController::wheel_state_

private

Definition at line 177 of file control_plugin.cpp.

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

control_plugin.cpp

Classes

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ init()

◆ starting()

◆ topicCallbackTwistCmd()

◆ update()

◆ updateCommand()

Member Data Documentation

◆ commands_pub_

◆ cycles_

◆ drive_joint_

◆ max_drive_rate_

◆ max_steer_rate_

◆ max_vel_rot_

◆ max_vel_trans_

◆ mutex_

◆ pub_divider_

◆ steer_joint_

◆ target_

◆ timeout_

◆ twist_subscriber_

◆ wheel_command_

◆ wheel_state_