#include <ctrl_interface.h>

Public Member Functions
	CtrlInterface (ros::NodeHandle nh, ros::NodeHandle nh_private)
virtual	~CtrlInterface ()
Private Member Functions
bool	changeDesPose (mav_srvs::ChangeDesPose::Request &req, mav_srvs::ChangeDesPose::Response &res)
void	cmdJoyVelCallback (const geometry_msgs::TwistStamped::ConstPtr twist_msg)
void	cmdPlanVelCallback (const geometry_msgs::Twist::ConstPtr twist_msg)
void	cmdTimerCallback (const ros::TimerEvent &event)
void	computePlan ()
void	computeWpFromPlan ()
void	curPoseCallback (const geometry_msgs::PoseStamped::ConstPtr pose_msg)
bool	decomposePlan (const std::vector< geometry_msgs::PoseStamped > &plan_in, std::vector< geometry_msgs::PoseStamped > &plan_out)
bool	decomposePlan (const costmap_2d::Costmap2D &costmap, const std::vector< geometry_msgs::PoseStamped > &plan_in, std::vector< geometry_msgs::PoseStamped > &plan_out, int start, int end)
void	goal2Dcallback (const geometry_msgs::PoseStamped::ConstPtr pose_msg)
void	initializeParams ()
void	planTimerCallback (const ros::TimerEvent &event)
bool	positionHold (mav_srvs::PositionHold::Request &req, mav_srvs::PositionHold::Response &res)
void	publishCmdPose ()
void	publishCmdVel ()
void	publishPlans ()
bool	velocityHold (mav_srvs::VelocityHold::Request &req, mav_srvs::VelocityHold::Response &res)
Private Attributes
bool	allow_joy_vel_cmd_
bool	allow_plan_vel_cmd_
ros::Publisher	array_publisher_
ros::ServiceServer	change_des_pose_srv_
ros::Subscriber	cmd_joy_vel_subscriber_
ros::Subscriber	cmd_plan_vel_subscriber_
ros::Publisher	cmd_pose_publisher_
ros::Timer	cmd_timer_
ros::Publisher	cmd_vel_publisher_
costmap_2d::Costmap2DROS	costmap_
ControlType	ctrl_type_
geometry_msgs::PoseStamped	cur_goal_
geometry_msgs::PoseStamped	cur_pose_
ros::Subscriber	cur_pose_subscriber_
geometry_msgs::PoseStamped	des_pose_
geometry_msgs::Twist	des_vel_
bool	direct_pos_ctrl_
std::string	fixed_frame_
ros::Subscriber	goal2D_subscriber_
ros::Publisher	goal_publisher_
double	goal_tf_tolerance_
boost::mutex	mutex_
navfn::NavfnROS	navfn_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
std::vector < geometry_msgs::PoseStamped >	plan_
std::vector < geometry_msgs::PoseStamped >	plan_decomposed_
double	plan_goal_tolerance_
ros::Publisher	plan_publisher_
ros::Timer	plan_timer_
ros::ServiceServer	pos_hold_srv_
ros::ServiceClient	set_ctrl_type_client_
tf::TransformListener	tf_listener_
ros::ServiceServer	vel_hold_srv_
double	wp_angle_tolerance_
double	wp_dist_max_
double	wp_dist_tolerance_
double	yaw_turn_tolerance_

Detailed Description

Definition at line 51 of file ctrl_interface.h.

Constructor & Destructor Documentation

mav::CtrlInterface::CtrlInterface	(	ros::NodeHandle	nh,
		ros::NodeHandle	nh_private
	)

Definition at line 27 of file ctrl_interface.cpp.

mav::CtrlInterface::~CtrlInterface ( ) [virtual]

Definition at line 106 of file ctrl_interface.cpp.

Member Function Documentation

bool mav::CtrlInterface::changeDesPose	(	mav_srvs::ChangeDesPose::Request &	req,
		mav_srvs::ChangeDesPose::Response &	res
	)		`[private]`

Definition at line 473 of file ctrl_interface.cpp.

void mav::CtrlInterface::cmdJoyVelCallback ( const geometry_msgs::TwistStamped::ConstPtr twist_msg ) [private]

Definition at line 220 of file ctrl_interface.cpp.

void mav::CtrlInterface::cmdPlanVelCallback ( const geometry_msgs::Twist::ConstPtr twist_msg ) [private]

Definition at line 245 of file ctrl_interface.cpp.

void mav::CtrlInterface::cmdTimerCallback ( const ros::TimerEvent & event ) [private]

Definition at line 210 of file ctrl_interface.cpp.

void mav::CtrlInterface::computePlan ( ) [private]

Definition at line 512 of file ctrl_interface.cpp.

void mav::CtrlInterface::computeWpFromPlan ( ) [private]

Definition at line 161 of file ctrl_interface.cpp.

void mav::CtrlInterface::curPoseCallback ( const geometry_msgs::PoseStamped::ConstPtr pose_msg ) [private]

Definition at line 270 of file ctrl_interface.cpp.

bool mav::CtrlInterface::decomposePlan	(	const std::vector< geometry_msgs::PoseStamped > &	plan_in,
		std::vector< geometry_msgs::PoseStamped > &	plan_out
	)		`[private]`

Definition at line 554 of file ctrl_interface.cpp.

bool mav::CtrlInterface::decomposePlan	(	const costmap_2d::Costmap2D &	costmap,
		const std::vector< geometry_msgs::PoseStamped > &	plan_in,
		std::vector< geometry_msgs::PoseStamped > &	plan_out,
		int	start,
		int	end
	)		`[private]`