ROSComm Class Reference

Inheritance diagram for ROSComm:

List of all members.

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, int ticks_per_turn_of_wheel)
virtual void	send_gyro (double theta, double sigma)
virtual void	send_odometry (double z, double x, double theta, double v_encoder, double v_encoder_angular, int wheel_a, int wheel_b, double v_encoder_left, double v_encoder_right)
virtual void	send_pitch_roll (double pitch, double roll)
virtual void	send_rotunit (double rot)
virtual void	send_sonar_back_rightBack_rightFront (int ir_back, int ir_right_back, int ir_right)
virtual void	send_sonar_front_usound_leftFront_left (int ir_right_front, int usound, int ir_left_front, int ir_left)
virtual void	send_sonar_leftBack (int ir_left_back)
void	setTFPrefix (const std::string &tf_prefix)
Private Member Functions
void	populateCovariance (nav_msgs::Odometry &msg, double v_encoder, double v_encoder_angular)
Private Attributes
double	cov_x_theta_
double	cov_x_y_
double	cov_y_theta_
ros::Publisher	imu_pub_
ros::Publisher	joint_pub_
ros::NodeHandle	n_
tf::TransformBroadcaster	odom_broadcaster_
ros::Publisher	odom_pub_
bool	publish_tf_
ros::Publisher	range_pub_
double	sigma_theta_
double	sigma_x_
std::string	tf_prefix_
int	ticks_per_turn_of_wheel_

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Detailed Description

Definition at line 17 of file kurt_base.cc.

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Constructor & Destructor Documentation

ROSComm::ROSComm	(	const ros::NodeHandle &	n,
		double	sigma_x,
		double	sigma_theta,
		double	cov_x_y,
		double	cov_x_theta,
		double	cov_y_theta,
		int	ticks_per_turn_of_wheel
	)		[inline]

Definition at line 20 of file kurt_base.cc.

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Member Function Documentation

void ROSComm::populateCovariance	(	nav_msgs::Odometry &	msg,
		double	v_encoder,
		double	v_encoder_angular
	)		[private]

Definition at line 76 of file kurt_base.cc.

void ROSComm::send_gyro	(	double	theta,
		double	sigma
	)		[virtual]

Implements Comm.

Definition at line 283 of file kurt_base.cc.

void ROSComm::send_odometry	(	double	z,
		double	x,
		double	theta,
		double	v_encoder,
		double	v_encoder_angular,
		int	wheel_a,
		int	wheel_b,
		double	v_encoder_left,
		double	v_encoder_right
	)		[virtual]

Implements Comm.

Definition at line 128 of file kurt_base.cc.

void ROSComm::send_pitch_roll	(	double	pitch,
		double	roll
	)		[virtual]

Implements Comm.

Definition at line 278 of file kurt_base.cc.

void ROSComm::send_rotunit

(

double

rot

)

[virtual]

Implements Comm.

Definition at line 302 of file kurt_base.cc.

void ROSComm::send_sonar_back_rightBack_rightFront	(	int	ir_back,
		int	ir_right_back,
		int	ir_right
	)		[virtual]

Implements Comm.

Definition at line 248 of file kurt_base.cc.

void ROSComm::send_sonar_front_usound_leftFront_left	(	int	ir_right_front,
		int	usound,
		int	ir_left_front,
		int	ir_left
	)		[virtual]

Implements Comm.

Definition at line 210 of file kurt_base.cc.

void ROSComm::send_sonar_leftBack

(

int

ir_left_back

)

[virtual]

Implements Comm.

Definition at line 196 of file kurt_base.cc.

void ROSComm::setTFPrefix

(

const std::string &

tf_prefix

)

Definition at line 71 of file kurt_base.cc.

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Member Data Documentation

double ROSComm::cov_x_theta_ [private]

Definition at line 59 of file kurt_base.cc.

double ROSComm::cov_x_y_ [private]

Definition at line 59 of file kurt_base.cc.

double ROSComm::cov_y_theta_ [private]

Definition at line 59 of file kurt_base.cc.

ros::Publisher ROSComm::imu_pub_ [private]

Definition at line 67 of file kurt_base.cc.

ros::Publisher ROSComm::joint_pub_ [private]

Definition at line 68 of file kurt_base.cc.

ros::NodeHandle ROSComm::n_ [private]

Definition at line 58 of file kurt_base.cc.

tf::TransformBroadcaster ROSComm::odom_broadcaster_ [private]

Definition at line 64 of file kurt_base.cc.

ros::Publisher ROSComm::odom_pub_ [private]

Definition at line 65 of file kurt_base.cc.

bool ROSComm::publish_tf_ [private]

Definition at line 61 of file kurt_base.cc.

ros::Publisher ROSComm::range_pub_ [private]

Definition at line 66 of file kurt_base.cc.

double ROSComm::sigma_theta_ [private]

Definition at line 59 of file kurt_base.cc.

double ROSComm::sigma_x_ [private]

Definition at line 59 of file kurt_base.cc.

std::string ROSComm::tf_prefix_ [private]

Definition at line 62 of file kurt_base.cc.

int ROSComm::ticks_per_turn_of_wheel_ [private]

Definition at line 60 of file kurt_base.cc.

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

• kurt_base.cc