Public Member Functions
void	check_command_subscriber (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	command_ptzCallback (const robotnik_msgs::ptzConstPtr &msg)
void	commandCallback (const geometry_msgs::TwistConstPtr &msg)
	GuardianControllerClass (ros::NodeHandle h)
	Public constructor.
void	imuCallback (const sensor_msgs::Imu &imu_msg)
void	jointStateCallback (const sensor_msgs::JointStateConstPtr &msg)
void	PublishOdometry ()
double	radnorm (double value)
double	radnorm2 (double value)
double	saturation (double u, double min, double max)
void	setCommand (const geometry_msgs::Twist &cmd_vel)
bool	spin ()
bool	srvCallback_GetMode (robotnik_msgs::get_mode::Request &request, robotnik_msgs::get_mode::Response &response)
bool	srvCallback_SetMode (robotnik_msgs::set_mode::Request &request, robotnik_msgs::set_mode::Response &response)
bool	srvCallback_SetOdometry (robotnik_msgs::set_odometry::Request &request, robotnik_msgs::set_odometry::Response &response)
int	starting ()
	Controller startup in realtime.
void	stopping ()
	Controller stopping.
void	UpdateControl ()
	Controller update loop.
void	UpdateOdometry ()
Public Attributes
int	active_kinematic_mode_
double	ang_vel_x_
double	ang_vel_y_
double	ang_vel_z_
double	angularSpeedRads_
geometry_msgs::Twist	base_vel_msg_
int	blw_vel_
std::string	blw_vel_topic_
int	brw_vel_
std::string	brw_vel_topic_
ros::Subscriber	cmd_sub_
diagnostic_updater::FunctionDiagnosticTask	command_freq_
double	desired_freq_
diagnostic_updater::Updater	diagnostic_
int	flw_vel_
std::string	flw_vel_topic_
diagnostic_updater::FrequencyStatus	freq_diag_
int	frw_vel_
std::string	frw_vel_topic_
double	guardian_d_tracks_m_
double	guardian_trackwidth_
double	guardian_wheel_diameter_
double	guardian_wheelbase_
ros::Subscriber	imu_sub_
std::string	joint_back_left_wheel
std::string	joint_back_right_wheel
std::string	joint_camera_pan
std::string	joint_camera_tilt
std::string	joint_front_left_wheel
std::string	joint_front_right_wheel
sensor_msgs::JointState	joint_state_
ros::Subscriber	joint_state_sub_
int	kinematic_modes_
ros::Time	last_command_time_
double	lin_acc_x_
double	lin_acc_y_
double	lin_acc_z_
double	linearSpeedXMps_
double	linearSpeedYMps_
ros::NodeHandle	node_handle_
tf::TransformBroadcaster	odom_broadcaster
ros::Publisher	odom_pub_
double	orientation_w_
double	orientation_x_
double	orientation_y_
double	orientation_z_
int	pan_pos_
std::string	pan_pos_topic_
double	pos_ref_pan_
double	pos_ref_tilt_
ros::NodeHandle	private_node_handle_
ros::Subscriber	ptz_sub_
bool	publish_odom_tf_
bool	read_state_
ros::Publisher	ref_pos_blw_
ros::Publisher	ref_pos_brw_
ros::Publisher	ref_pos_flw_
ros::Publisher	ref_pos_frw_
ros::Publisher	ref_pos_pan_
ros::Publisher	ref_pos_tilt_
ros::Publisher	ref_vel_blw_
ros::Publisher	ref_vel_brw_
ros::Publisher	ref_vel_flw_
ros::Publisher	ref_vel_frw_
std::string	robot_model_
double	robot_pose_pa_
double	robot_pose_px_
double	robot_pose_py_
double	robot_pose_vx_
double	robot_pose_vy_
ros::ServiceServer	srv_GetMode_
ros::ServiceServer	srv_SetMode_
ros::ServiceServer	srv_SetOdometry_
diagnostic_updater::HeaderlessTopicDiagnostic *	subs_command_freq
int	tilt_pos_
std::string	tilt_pos_topic_
double	v_ref_x_
double	v_ref_y_
double	v_ref_z_
double	w_ref_

Detailed Description

Definition at line 69 of file guardian_robot_control.cpp.

Constructor & Destructor Documentation

GuardianControllerClass::GuardianControllerClass ( ros::NodeHandle h ) [inline]

Public constructor.

Definition at line 207 of file guardian_robot_control.cpp.

Member Function Documentation

void GuardianControllerClass::check_command_subscriber ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [inline]

Definition at line 531 of file guardian_robot_control.cpp.

void GuardianControllerClass::command_ptzCallback ( const robotnik_msgs::ptzConstPtr & msg ) [inline]

Definition at line 618 of file guardian_robot_control.cpp.

void GuardianControllerClass::commandCallback ( const geometry_msgs::TwistConstPtr & msg ) [inline]

Definition at line 607 of file guardian_robot_control.cpp.

void GuardianControllerClass::imuCallback ( const sensor_msgs::Imu & imu_msg ) [inline]

Definition at line 625 of file guardian_robot_control.cpp.

void GuardianControllerClass::jointStateCallback ( const sensor_msgs::JointStateConstPtr & msg ) [inline]

Definition at line 600 of file guardian_robot_control.cpp.

void GuardianControllerClass::PublishOdometry ( ) [inline]

Definition at line 462 of file guardian_robot_control.cpp.

double GuardianControllerClass::radnorm ( double value ) [inline]

Definition at line 648 of file guardian_robot_control.cpp.

double GuardianControllerClass::radnorm2 ( double value ) [inline]

Definition at line 655 of file guardian_robot_control.cpp.

double GuardianControllerClass::saturation	(	double	u,
		double	min,
		double	max
	)		`[inline]`

Definition at line 641 of file guardian_robot_control.cpp.

void GuardianControllerClass::setCommand ( const geometry_msgs::Twist & cmd_vel ) [inline]

Definition at line 548 of file guardian_robot_control.cpp.

bool GuardianControllerClass::spin ( ) [inline]

Definition at line 662 of file guardian_robot_control.cpp.

bool GuardianControllerClass::srvCallback_GetMode	(	robotnik_msgs::get_mode::Request &	request,
		robotnik_msgs::get_mode::Response &	response
	)		`[inline]`

Definition at line 579 of file guardian_robot_control.cpp.

bool GuardianControllerClass::srvCallback_SetMode	(	robotnik_msgs::set_mode::Request &	request,
		robotnik_msgs::set_mode::Response &	response
	)		`[inline]`

Definition at line 558 of file guardian_robot_control.cpp.

bool GuardianControllerClass::srvCallback_SetOdometry	(	robotnik_msgs::set_odometry::Request &	request,
		robotnik_msgs::set_odometry::Response &	response
	)		`[inline]`