labust::simulation::DiverSim Class Reference

#include <diver_sim.h>

List of all members.

Public Member Functions
	DiverSim ()
	The generic constructor.
void	onInit ()
	Initializes the ROS node and configures the model from the ROS parameters.
void	start ()
	Start the simulator.
Private Member Functions
void	onNu (const auv_msgs::BodyVelocityReq::ConstPtr &nu)
	Handle incoming speed request.
void	step ()
	Single simulation step.
void	stepJoints (double w, double hpan=0, double htilt=0)
	Step joints.
Private Attributes
std::vector< double >	jdefaults
	Joint defaults.
std::vector< std::string >	jnames
	Joint names.
ros::Publisher	joints
	Joint state publisher.
sensor_msgs::JointState	jstate
	Current joint state.
labust::simulation::KinematicModel	model
	Simulated kinematics.
bool	move_head
ros::Publisher	navsts
	Navigation state publisher.
labust::simulation::vector	nu
	The incoming speed vector.
boost::mutex	nu_mux
	The incoming speed mutex.
ros::Subscriber	nusub
	Subscriber to commanded speeds.
boost::thread	runner
	Runner thread for the simulator.
bool	runSim
	Run flag.
double	Ts
	Sim sampling time.

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Detailed Description

This class implements the diver simulator. The class implements joint-state publishing for diver movement emulation and uses the kinematic model for diver movement.

Definition at line 58 of file diver_sim.h.

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Constructor & Destructor Documentation

DiverSim::DiverSim

(

)

The generic constructor.

Definition at line 45 of file diver_sim.cpp.

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Member Function Documentation

void DiverSim::onInit

(

)

Initializes the ROS node and configures the model from the ROS parameters.

Definition at line 55 of file diver_sim.cpp.

void labust::simulation::DiverSim::onNu

(

const auv_msgs::BodyVelocityReq::ConstPtr &

nu

)

[inline, private]

Handle incoming speed request.

Definition at line 76 of file diver_sim.h.

void DiverSim::start

(

)

Start the simulator.

Definition at line 95 of file diver_sim.cpp.

void DiverSim::step

(

)

[private]

Single simulation step.

Definition at line 106 of file diver_sim.cpp.

void DiverSim::stepJoints	(	double	w,
		double	hpan = 0,
		double	htilt = 0
	)		[private]

Step joints.

Todo:

Remove hard-coded positions and find index by name

Definition at line 148 of file diver_sim.cpp.

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Member Data Documentation

std::vector<double> labust::simulation::DiverSim::jdefaults [private]

Joint defaults.

Definition at line 97 of file diver_sim.h.

std::vector<std::string> labust::simulation::DiverSim::jnames [private]

Joint names.

Definition at line 95 of file diver_sim.h.

ros::Publisher labust::simulation::DiverSim::joints [private]

Joint state publisher.

Definition at line 86 of file diver_sim.h.

sensor_msgs::JointState labust::simulation::DiverSim::jstate [private]

Current joint state.

Definition at line 99 of file diver_sim.h.

labust::simulation::KinematicModel labust::simulation::DiverSim::model [private]

Simulated kinematics.

Definition at line 109 of file diver_sim.h.

bool labust::simulation::DiverSim::move_head [private]

Flag to use roll/pitch rate for moving the head instead of the body directly.

Definition at line 104 of file diver_sim.h.

ros::Publisher labust::simulation::DiverSim::navsts [private]

Navigation state publisher.

Definition at line 84 of file diver_sim.h.

labust::simulation::vector labust::simulation::DiverSim::nu [private]

The incoming speed vector.

Definition at line 90 of file diver_sim.h.

boost::mutex labust::simulation::DiverSim::nu_mux [private]

The incoming speed mutex.

Definition at line 92 of file diver_sim.h.

ros::Subscriber labust::simulation::DiverSim::nusub [private]

Subscriber to commanded speeds.

Definition at line 88 of file diver_sim.h.

boost::thread labust::simulation::DiverSim::runner [private]

Runner thread for the simulator.

Definition at line 112 of file diver_sim.h.

bool labust::simulation::DiverSim::runSim [private]

Run flag.

Definition at line 114 of file diver_sim.h.

double labust::simulation::DiverSim::Ts [private]

Sim sampling time.

Definition at line 107 of file diver_sim.h.

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

• diver_sim.h
• diver_sim.cpp