labust::allocation::AllocationNode Class Reference

#include <allocation_node.h>

List of all members.

Public Member Functions
	AllocationNode ()
	Main constructor.
void	onInit ()
	~AllocationNode ()
	General destructor.
Private Member Functions
void	onTau (const auv_msgs::BodyForceReq::ConstPtr tau)
	Handles the desired force and torque request.
Private Attributes
AllocationInterface::Ptr	alloc
	Allocation handle.
pluginlib::ClassLoader < AllocationInterface >	alloc_loader
	Allocation plug-in loader.
ros::Publisher	pwm_pub
	The achieved PWM commands.
ros::Timer	safety
	The safety timer that stops the thrusters.
ros::Subscriber	tau_sub
	The desired force and torque subscriber.
ros::Publisher	tauach_pub
	The achieved force and torque publisher.
double	timeout
	The safety timeout.

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Detailed Description

The class implements the ROS container of the allocation classes.

Definition at line 50 of file allocation_node.h.

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Constructor & Destructor Documentation

AllocationNode::AllocationNode

(

)

Main constructor.

Definition at line 41 of file allocation_node.cpp.

AllocationNode::~AllocationNode

(

)

General destructor.

Definition at line 49 of file allocation_node.cpp.

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Member Function Documentation

void AllocationNode::onInit

(

)

Definition at line 51 of file allocation_node.cpp.

void AllocationNode::onTau

(

const auv_msgs::BodyForceReq::ConstPtr

tau

)

[private]

Handles the desired force and torque request.

Definition at line 76 of file allocation_node.cpp.

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Member Data Documentation

AllocationInterface::Ptr labust::allocation::AllocationNode::alloc [private]

Allocation handle.

Definition at line 80 of file allocation_node.h.

pluginlib::ClassLoader<AllocationInterface> labust::allocation::AllocationNode::alloc_loader [private]

Allocation plug-in loader.

Definition at line 78 of file allocation_node.h.

ros::Publisher labust::allocation::AllocationNode::pwm_pub [private]

The achieved PWM commands.

Definition at line 67 of file allocation_node.h.

ros::Timer labust::allocation::AllocationNode::safety [private]

The safety timer that stops the thrusters.

Definition at line 73 of file allocation_node.h.

ros::Subscriber labust::allocation::AllocationNode::tau_sub [private]

The desired force and torque subscriber.

Definition at line 63 of file allocation_node.h.

ros::Publisher labust::allocation::AllocationNode::tauach_pub [private]

The achieved force and torque publisher.

Definition at line 65 of file allocation_node.h.

double labust::allocation::AllocationNode::timeout [private]

The safety timeout.

Definition at line 75 of file allocation_node.h.

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

• allocation_node.h
• allocation_node.cpp