stdr_robot::MotionController Class Reference

Abstract class that provides motion controller abstraction. More...

#include <motion_controller_base.h>

Inheritance diagram for stdr_robot::MotionController:

List of all members.

Public Member Functions
virtual void	calculateMotion (const ros::TimerEvent &event)=0
	Pure virtual function - Calculates the motion - updates the robot pose.
geometry_msgs::Pose2D	getPose (void)
	Returns the pose calculated by the motion controller.
geometry_msgs::Twist	getVelocity ()
	Get the current velocity of the motion controller.
void	setPose (geometry_msgs::Pose2D new_pose)
	Sets the initial pose of the motion controller.
virtual void	stop (void)=0
	Pure virtual function - Stops the robot.
virtual void	velocityCallback (const geometry_msgs::Twist &msg)=0
	Pure virtual function - Callback for velocity commands.
virtual	~MotionController (void)
	Default desctructor.
Protected Member Functions
	MotionController (const geometry_msgs::Pose2D &pose, tf::TransformBroadcaster &tf, const std::string &name)
	Default constructor.
Protected Attributes
ros::Timer	_calcTimer
	Broadcaster of the robot tf transform.
geometry_msgs::Twist	_currentTwist
ros::Duration	_freq
	ROS timer for generating motion calculation events.
const std::string &	_namespace
	< The base of the frame_id
geometry_msgs::Pose2D	_pose
	Current motion command.
tf::TransformBroadcaster &	_tfBroadcaster
	Robot pose message.
ros::Subscriber	_velocitySubscrider
	Frequency of motion calculation.

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Detailed Description

Abstract class that provides motion controller abstraction.

Definition at line 40 of file motion_controller_base.h.

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Constructor & Destructor Documentation

virtual stdr_robot::MotionController::~MotionController

(

void

)

[inline, virtual]

Default desctructor.

Returns:

void

Definition at line 97 of file motion_controller_base.h.

stdr_robot::MotionController::MotionController	(	const geometry_msgs::Pose2D &	pose,
		tf::TransformBroadcaster &	tf,
		const std::string &	name
	)		[inline, protected]

Default constructor.

Parameters:

pose	[const geometry_msgs::Pose2D&] The robot pose
tf	[tf::TransformBroadcaster&] A ROS tf broadcaster
name	[const std::string&] The robot frame id

Returns:

void

Definition at line 110 of file motion_controller_base.h.

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Member Function Documentation

virtual void stdr_robot::MotionController::calculateMotion

(

const ros::TimerEvent &

event

)

[pure virtual]

Pure virtual function - Calculates the motion - updates the robot pose.

Parameters:

event

[const ros::TimerEvent&] A ROS timer event

Returns:

void

Implemented in stdr_robot::IdealMotionController.

geometry_msgs::Pose2D stdr_robot::MotionController::getPose

(

void

)

[inline]

Returns the pose calculated by the motion controller.

Returns:

geometry_msgs::Pose2D

Definition at line 68 of file motion_controller_base.h.

geometry_msgs::Twist stdr_robot::MotionController::getVelocity

(

)

[inline]

Get the current velocity of the motion controller.

Returns:

geometry_msgs::Twist

Definition at line 89 of file motion_controller_base.h.

void stdr_robot::MotionController::setPose

(

geometry_msgs::Pose2D

new_pose

)

[inline]

Sets the initial pose of the motion controller.

Parameters:

new_pose

[geometry_msgs::Pose2D] The new pose

Returns:

void

Definition at line 78 of file motion_controller_base.h.

virtual void stdr_robot::MotionController::stop

(

void

)

[pure virtual]

Pure virtual function - Stops the robot.

Returns:

void

Implemented in stdr_robot::IdealMotionController.

virtual void stdr_robot::MotionController::velocityCallback

(

const geometry_msgs::Twist &

msg

)

[pure virtual]

Pure virtual function - Callback for velocity commands.

Parameters:

msg	[const geometry_msgs::Twist&] The velocity command

Returns:

void

Implemented in stdr_robot::IdealMotionController.

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Member Data Documentation

ros::Timer stdr_robot::MotionController::_calcTimer [protected]

Broadcaster of the robot tf transform.

Definition at line 130 of file motion_controller_base.h.

geometry_msgs::Twist stdr_robot::MotionController::_currentTwist [protected]

Definition at line 135 of file motion_controller_base.h.

ros::Duration stdr_robot::MotionController::_freq [protected]

ROS timer for generating motion calculation events.

Definition at line 128 of file motion_controller_base.h.

const std::string& stdr_robot::MotionController::_namespace [protected]

< The base of the frame_id

ROS subscriber to the velocity topic

Definition at line 124 of file motion_controller_base.h.

geometry_msgs::Pose2D stdr_robot::MotionController::_pose [protected]

Current motion command.

Definition at line 134 of file motion_controller_base.h.

tf::TransformBroadcaster& stdr_robot::MotionController::_tfBroadcaster [protected]

Robot pose message.

Definition at line 132 of file motion_controller_base.h.

ros::Subscriber stdr_robot::MotionController::_velocitySubscrider [protected]

Frequency of motion calculation.

Definition at line 126 of file motion_controller_base.h.

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

• motion_controller_base.h