Inheritance diagram for steered_wheel_base_controller::SteeredWheelBaseController:

Classes
struct	VelCmd
Public Member Functions
virtual string	getHardwareInterfaceType () const
virtual bool	initRequest (RobotHW *const robot_hw, NodeHandle &root_nh, NodeHandle &ctrlr_nh, set< string > &claimed_resources)
virtual void	starting (const Time &time)
	SteeredWheelBaseController ()
virtual void	stopping (const Time &time)
virtual void	update (const Time &time, const Duration &period)
Private Member Functions
void	compOdometry (const Time &time, const double inv_delta_t)
void	ctrlWheels (const Vector2d &lin_vel, const double yaw_vel, const Duration &period)
Vector2d	enforceLinLimits (const Vector2d &desired_vel, const double delta_t, const double inv_delta_t)
double	enforceYawLimits (const double desired_vel, const double delta_t, const double inv_delta_t)
void	init (EffortJointInterface const eff_joint_iface, PositionJointInterface const pos_joint_iface, VelocityJointInterface *const vel_joint_iface, NodeHandle &ctrlr_nh)
void	velCmdCB (const TwistConstPtr &vel_cmd)
Private Attributes
bool	comp_odom_
bool	has_lin_accel_limit_
bool	has_lin_decel_limit_
bool	has_lin_speed_limit_
bool	has_yaw_accel_limit_
bool	has_yaw_decel_limit_
bool	has_yaw_speed_limit_
double	hermite_offset_
double	hermite_scale_
Affine2d	init_odom_to_base_
Vector2d	last_lin_vel_
Time	last_odom_pub_time_
Time	last_odom_tf_pub_time_
double	last_yaw_vel_
double	lin_accel_limit_
double	lin_decel_limit_
double	lin_speed_limit_
Vector2d	neg_wheel_centroid_
Eigen::MatrixX2d	new_wheel_pos_
RealtimePublisher < nav_msgs::Odometry >	odom_pub_
Duration	odom_pub_period_
Affine2d	odom_rigid_transf_
RealtimePublisher< tf::tfMessage >	odom_tf_pub_
Affine2d	odom_to_base_
bool	pub_odom_to_base_
VelCmd	vel_cmd_
RealtimeBuffer< VelCmd >	vel_cmd_buf_
ros::Subscriber	vel_cmd_sub_
Duration	vel_cmd_timeout_
bool	vel_cmd_timeout_enabled_
Eigen::Matrix2Xd	wheel_pos_
std::vector< Wheel >	wheels_
double	yaw_accel_limit_
double	yaw_decel_limit_
double	yaw_speed_limit_
Static Private Attributes
static const string	DEF_BASE_FRAME = "base_link"
static const string	DEF_BASE_LINK = "base_link"
static const double	DEF_CMD_VEL_TIMEOUT = 0.5
static const double	DEF_FULL_AXLE_SPEED_ANG = 0.7854
static const double	DEF_INIT_X = 0
static const double	DEF_INIT_Y = 0
static const double	DEF_INIT_YAW = 0
static const double	DEF_LIN_ACCEL_LIMIT = 1
static const double	DEF_LIN_DECEL_LIMIT = -1
static const double	DEF_LIN_SPEED_LIMIT = 1
static const string	DEF_ODOM_FRAME = "odom"
static const double	DEF_ODOM_PUB_FREQ = 30
static const bool	DEF_PUB_ODOM_TO_BASE = true
static const string	DEF_ROBOT_DESC_NAME = "robot_description"
static const double	DEF_SD = 0
static const double	DEF_WHEEL_DIA_SCALE = 1
static const double	DEF_YAW_ACCEL_LIMIT = 1
static const double	DEF_YAW_DECEL_LIMIT = -1
static const double	DEF_YAW_SPEED_LIMIT = 1
static const double	DEF_ZERO_AXLE_SPEED_ANG = 1.5708
static const Vector2d	X_DIR = Vector2d::UnitX()

Detailed Description

Definition at line 708 of file steered_wheel_base_controller.cpp.

Constructor & Destructor Documentation

steered_wheel_base_controller::SteeredWheelBaseController::SteeredWheelBaseController ( )

Definition at line 857 of file steered_wheel_base_controller.cpp.

Member Function Documentation

void steered_wheel_base_controller::SteeredWheelBaseController::compOdometry	(	const Time &	time,
		const double	inv_delta_t
	)		`[private]`

Definition at line 1397 of file steered_wheel_base_controller.cpp.

void steered_wheel_base_controller::SteeredWheelBaseController::ctrlWheels	(	const Vector2d &	lin_vel,
		const double	yaw_vel,
		const Duration &	period
	)		`[private]`

Definition at line 1304 of file steered_wheel_base_controller.cpp.

Vector2d steered_wheel_base_controller::SteeredWheelBaseController::enforceLinLimits	(	const Vector2d &	desired_vel,
		const double	delta_t,
		const double	inv_delta_t
	)		`[private]`

Definition at line 1216 of file steered_wheel_base_controller.cpp.

double steered_wheel_base_controller::SteeredWheelBaseController::enforceYawLimits	(	const double	desired_vel,
		const double	delta_t,
		const double	inv_delta_t
	)		`[private]`

Definition at line 1264 of file steered_wheel_base_controller.cpp.

string steered_wheel_base_controller::SteeredWheelBaseController::getHardwareInterfaceType ( ) const [virtual]

Implements controller_interface::ControllerBase.

Definition at line 906 of file steered_wheel_base_controller.cpp.

void steered_wheel_base_controller::SteeredWheelBaseController::init	(	EffortJointInterface *const	eff_joint_iface,
		PositionJointInterface *const	pos_joint_iface,
		VelocityJointInterface *const	vel_joint_iface,
		NodeHandle &	ctrlr_nh
	)		`[private]`

Definition at line 974 of file steered_wheel_base_controller.cpp.

bool steered_wheel_base_controller::SteeredWheelBaseController::initRequest	(	RobotHW *const	robot_hw,
		NodeHandle &	root_nh,
		NodeHandle &	ctrlr_nh,
		set< string > &	claimed_resources
	)		`[virtual]`