dbw_mkz_twist_controller::TwistControllerNode Class Reference

#include <TwistControllerNode.h>

List of all members.

Public Member Functions
	TwistControllerNode (ros::NodeHandle &n, ros::NodeHandle &pn)
Private Member Functions
void	controlCallback (const ros::TimerEvent &event)
void	reconfig (ControllerConfig &config, uint32_t level)
void	recvEnable (const std_msgs::Bool::ConstPtr &msg)
void	recvFuel (const dbw_mkz_msgs::FuelLevelReport::ConstPtr &msg)
void	recvImu (const sensor_msgs::Imu::ConstPtr &msg)
void	recvSteeringReport (const dbw_mkz_msgs::SteeringReport::ConstPtr &msg)
void	recvTwist (const geometry_msgs::Twist::ConstPtr &msg)
void	recvTwist2 (const dbw_mkz_msgs::TwistCmd::ConstPtr &msg)
void	recvTwist3 (const geometry_msgs::TwistStamped::ConstPtr &msg)
Static Private Member Functions
static double	mphToMps (double mph)
Private Attributes
PidControl	accel_pid_
double	acker_track_
double	acker_wheelbase_
geometry_msgs::Twist	actual_
ControllerConfig	cfg_
ros::Time	cmd_stamp_
dbw_mkz_msgs::TwistCmd	cmd_vel_
double	control_period_
ros::Timer	control_timer_
LowPass	lpf_accel_
LowPass	lpf_fuel_
ros::Publisher	pub_accel_
ros::Publisher	pub_brake_
ros::Publisher	pub_req_accel_
ros::Publisher	pub_steering_
ros::Publisher	pub_throttle_
PidControl	speed_pid_
dynamic_reconfigure::Server < ControllerConfig >	srv_
double	steering_ratio_
ros::Subscriber	sub_enable_
ros::Subscriber	sub_fuel_level_
ros::Subscriber	sub_imu_
ros::Subscriber	sub_steering_
ros::Subscriber	sub_twist2_
ros::Subscriber	sub_twist3_
ros::Subscriber	sub_twist_
bool	sys_enable_
YawControl	yaw_control_

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Detailed Description

Definition at line 68 of file TwistControllerNode.h.

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Constructor & Destructor Documentation

dbw_mkz_twist_controller::TwistControllerNode::TwistControllerNode	(	ros::NodeHandle &	n,
		ros::NodeHandle &	pn
	)

Definition at line 39 of file TwistControllerNode.cpp.

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Member Function Documentation

void dbw_mkz_twist_controller::TwistControllerNode::controlCallback

(

const ros::TimerEvent &

event

)

[private]

Definition at line 84 of file TwistControllerNode.cpp.

static double dbw_mkz_twist_controller::TwistControllerNode::mphToMps

(

double

mph

)

[inline, static, private]

Definition at line 115 of file TwistControllerNode.h.

void dbw_mkz_twist_controller::TwistControllerNode::reconfig	(	ControllerConfig &	config,
		uint32_t	level
	)		[private]

Definition at line 154 of file TwistControllerNode.cpp.

void dbw_mkz_twist_controller::TwistControllerNode::recvEnable

(

const std_msgs::Bool::ConstPtr &

msg

)

[private]

Definition at line 210 of file TwistControllerNode.cpp.

void dbw_mkz_twist_controller::TwistControllerNode::recvFuel

(

const dbw_mkz_msgs::FuelLevelReport::ConstPtr &

msg

)

[private]

Definition at line 188 of file TwistControllerNode.cpp.

void dbw_mkz_twist_controller::TwistControllerNode::recvImu

(

const sensor_msgs::Imu::ConstPtr &

msg

)

[private]

Definition at line 205 of file TwistControllerNode.cpp.

void dbw_mkz_twist_controller::TwistControllerNode::recvSteeringReport

(

const dbw_mkz_msgs::SteeringReport::ConstPtr &

msg

)

[private]

Definition at line 193 of file TwistControllerNode.cpp.

void dbw_mkz_twist_controller::TwistControllerNode::recvTwist

(

const geometry_msgs::Twist::ConstPtr &

msg

)

[private]

Definition at line 166 of file TwistControllerNode.cpp.

void dbw_mkz_twist_controller::TwistControllerNode::recvTwist2

(

const dbw_mkz_msgs::TwistCmd::ConstPtr &

msg

)

[private]

Definition at line 174 of file TwistControllerNode.cpp.

void dbw_mkz_twist_controller::TwistControllerNode::recvTwist3

(

const geometry_msgs::TwistStamped::ConstPtr &

msg

)

[private]

Definition at line 180 of file TwistControllerNode.cpp.

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Member Data Documentation

PidControl dbw_mkz_twist_controller::TwistControllerNode::accel_pid_ [private]

Definition at line 102 of file TwistControllerNode.h.

double dbw_mkz_twist_controller::TwistControllerNode::acker_track_ [private]

Definition at line 112 of file TwistControllerNode.h.

double dbw_mkz_twist_controller::TwistControllerNode::acker_wheelbase_ [private]

Definition at line 111 of file TwistControllerNode.h.

geometry_msgs::Twist dbw_mkz_twist_controller::TwistControllerNode::actual_ [private]

Definition at line 97 of file TwistControllerNode.h.

ControllerConfig dbw_mkz_twist_controller::TwistControllerNode::cfg_ [private]

Definition at line 106 of file TwistControllerNode.h.

ros::Time dbw_mkz_twist_controller::TwistControllerNode::cmd_stamp_ [private]

Definition at line 98 of file TwistControllerNode.h.

dbw_mkz_msgs::TwistCmd dbw_mkz_twist_controller::TwistControllerNode::cmd_vel_ [private]

Definition at line 96 of file TwistControllerNode.h.

double dbw_mkz_twist_controller::TwistControllerNode::control_period_ [private]

Definition at line 110 of file TwistControllerNode.h.

ros::Timer dbw_mkz_twist_controller::TwistControllerNode::control_timer_ [private]

Definition at line 94 of file TwistControllerNode.h.

LowPass dbw_mkz_twist_controller::TwistControllerNode::lpf_accel_ [private]

Definition at line 104 of file TwistControllerNode.h.

LowPass dbw_mkz_twist_controller::TwistControllerNode::lpf_fuel_ [private]

Definition at line 105 of file TwistControllerNode.h.

ros::Publisher dbw_mkz_twist_controller::TwistControllerNode::pub_accel_ [private]

Definition at line 85 of file TwistControllerNode.h.

ros::Publisher dbw_mkz_twist_controller::TwistControllerNode::pub_brake_ [private]

Definition at line 83 of file TwistControllerNode.h.

ros::Publisher dbw_mkz_twist_controller::TwistControllerNode::pub_req_accel_ [private]

Definition at line 86 of file TwistControllerNode.h.

ros::Publisher dbw_mkz_twist_controller::TwistControllerNode::pub_steering_ [private]

Definition at line 84 of file TwistControllerNode.h.

ros::Publisher dbw_mkz_twist_controller::TwistControllerNode::pub_throttle_ [private]

Definition at line 82 of file TwistControllerNode.h.

PidControl dbw_mkz_twist_controller::TwistControllerNode::speed_pid_ [private]

Definition at line 101 of file TwistControllerNode.h.

dynamic_reconfigure::Server<ControllerConfig> dbw_mkz_twist_controller::TwistControllerNode::srv_ [private]

Definition at line 99 of file TwistControllerNode.h.

double dbw_mkz_twist_controller::TwistControllerNode::steering_ratio_ [private]

Definition at line 113 of file TwistControllerNode.h.

ros::Subscriber dbw_mkz_twist_controller::TwistControllerNode::sub_enable_ [private]

Definition at line 89 of file TwistControllerNode.h.

ros::Subscriber dbw_mkz_twist_controller::TwistControllerNode::sub_fuel_level_ [private]

Definition at line 93 of file TwistControllerNode.h.

ros::Subscriber dbw_mkz_twist_controller::TwistControllerNode::sub_imu_ [private]

Definition at line 88 of file TwistControllerNode.h.

ros::Subscriber dbw_mkz_twist_controller::TwistControllerNode::sub_steering_ [private]

Definition at line 87 of file TwistControllerNode.h.

ros::Subscriber dbw_mkz_twist_controller::TwistControllerNode::sub_twist2_ [private]

Definition at line 91 of file TwistControllerNode.h.

ros::Subscriber dbw_mkz_twist_controller::TwistControllerNode::sub_twist3_ [private]

Definition at line 92 of file TwistControllerNode.h.

ros::Subscriber dbw_mkz_twist_controller::TwistControllerNode::sub_twist_ [private]

Definition at line 90 of file TwistControllerNode.h.

bool dbw_mkz_twist_controller::TwistControllerNode::sys_enable_ [private]

Definition at line 107 of file TwistControllerNode.h.

YawControl dbw_mkz_twist_controller::TwistControllerNode::yaw_control_ [private]

Definition at line 103 of file TwistControllerNode.h.

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

• TwistControllerNode.h
• TwistControllerNode.cpp