#include <steerbot.h>

Inheritance diagram for Steerbot:

Public Member Functions
ros::Duration	getPeriod () const
ros::Time	getTime () const
void	read ()
bool	startCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
	Steerbot ()
bool	stopCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	write ()
Private Member Functions
void	cleanUp ()
void	getJointNames (ros::NodeHandle &_nh)
void	getSteerJointNames (ros::NodeHandle &_nh)
void	getWheelJointNames (ros::NodeHandle &_nh)
void	registerCommandJointInterfaceHandle (hardware_interface::JointStateInterface &_jnt_state_interface, hardware_interface::JointCommandInterface &_jnt_cmd_interface, const std::string _jnt_name, double &_jnt_cmd)
void	registerHardwareInterfaces ()
void	registerInterfaceHandles (hardware_interface::JointStateInterface &_jnt_state_interface, hardware_interface::JointCommandInterface &_jnt_cmd_interface, const std::string _jnt_name, double &_jnt_pos, double &_jnt_vel, double &_jnt_eff, double &_jnt_cmd)
void	registerJointStateInterfaceHandle (hardware_interface::JointStateInterface &_jnt_state_interface, const std::string _jnt_name, double &_jnt_pos, double &_jnt_vel, double &_jnt_eff)
void	registerSteerInterface ()
void	registerWheelInterface ()
Private Attributes
double	front_steer_jnt_eff_
std::string	front_steer_jnt_name_
double	front_steer_jnt_pos_
double	front_steer_jnt_pos_cmd_
hardware_interface::PositionJointInterface	front_steer_jnt_pos_cmd_interface_
double	front_steer_jnt_vel_
hardware_interface::JointStateInterface	jnt_state_interface_
ros::NodeHandle	nh_
std::string	ns_
double	rear_wheel_jnt_eff_
std::string	rear_wheel_jnt_name_
double	rear_wheel_jnt_pos_
double	rear_wheel_jnt_vel_
double	rear_wheel_jnt_vel_cmd_
hardware_interface::VelocityJointInterface	rear_wheel_jnt_vel_cmd_interface_
bool	running_
ros::ServiceServer	start_srv_
ros::ServiceServer	stop_srv_
std::vector< double >	virtual_front_steer_jnt_eff_
std::vector< std::string >	virtual_front_steer_jnt_names_
std::vector< double >	virtual_front_steer_jnt_pos_
std::vector< double >	virtual_front_steer_jnt_pos_cmd_
std::vector< double >	virtual_front_steer_jnt_vel_
std::vector< double >	virtual_front_wheel_jnt_eff_
std::vector< std::string >	virtual_front_wheel_jnt_names_
std::vector< double >	virtual_front_wheel_jnt_pos_
std::vector< double >	virtual_front_wheel_jnt_vel_
std::vector< double >	virtual_front_wheel_jnt_vel_cmd_
std::vector< double >	virtual_rear_wheel_jnt_eff_
std::vector< std::string >	virtual_rear_wheel_jnt_names_
std::vector< double >	virtual_rear_wheel_jnt_pos_
std::vector< double >	virtual_rear_wheel_jnt_vel_
std::vector< double >	virtual_rear_wheel_jnt_vel_cmd_
double	wheel_separation_h_
double	wheel_separation_w_

Detailed Description

Definition at line 53 of file steerbot.h.

Constructor & Destructor Documentation

Steerbot::Steerbot ( ) [inline]

Definition at line 56 of file steerbot.h.

Member Function Documentation

void Steerbot::cleanUp ( ) [inline, private]

Definition at line 196 of file steerbot.h.

void Steerbot::getJointNames ( ros::NodeHandle & _nh ) [inline, private]

Definition at line 234 of file steerbot.h.

ros::Duration Steerbot::getPeriod ( ) const [inline]

Definition at line 74 of file steerbot.h.

void Steerbot::getSteerJointNames ( ros::NodeHandle & _nh ) [inline, private]

Definition at line 261 of file steerbot.h.

ros::Time Steerbot::getTime ( ) const [inline]

Definition at line 73 of file steerbot.h.

void Steerbot::getWheelJointNames ( ros::NodeHandle & _nh ) [inline, private]

Definition at line 240 of file steerbot.h.

void Steerbot::read ( ) [inline]

Definition at line 76 of file steerbot.h.

void Steerbot::registerCommandJointInterfaceHandle	(	hardware_interface::JointStateInterface &	_jnt_state_interface,
		hardware_interface::JointCommandInterface &	_jnt_cmd_interface,
		const std::string	_jnt_name,
		double &	_jnt_cmd
	)		`[inline, private]`

Definition at line 351 of file steerbot.h.

void Steerbot::registerHardwareInterfaces ( ) [inline, private]

Definition at line 276 of file steerbot.h.

void Steerbot::registerInterfaceHandles	(	hardware_interface::JointStateInterface &	_jnt_state_interface,
		hardware_interface::JointCommandInterface &	_jnt_cmd_interface,
		const std::string	_jnt_name,
		double &	_jnt_pos,
		double &	_jnt_vel,
		double &	_jnt_eff,
		double &	_jnt_cmd
	)		`[inline, private]`

Definition at line 326 of file steerbot.h.

void Steerbot::registerJointStateInterfaceHandle	(	hardware_interface::JointStateInterface &	_jnt_state_interface,
		const std::string	_jnt_name,
		double &	_jnt_pos,
		double &	_jnt_vel,
		double &	_jnt_eff
	)		`[inline, private]`