towr::TowrUserInterface Class Reference

Translates user input into the ROS message TowrCommand.msg. More...

#include <towr_user_interface.h>

List of all members.

Public Member Functions
void	CallbackKey (int c)
	TowrUserInterface ()
	Constructs default object to interact with framework.
virtual	~TowrUserInterface ()
Private Member Functions
int	AdvanceCircularBuffer (int &curr, int max) const
void	PrintScreen () const
void	PrintVector (const Eigen::Vector3d &v) const
void	PrintVector2D (const Eigen::Vector2d &v) const
void	PublishCommand ()
Private Attributes
int	gait_combo_
xpp::State3dEuler	goal_geom_
bool	optimize_
bool	optimize_phase_durations_
bool	play_initialization_
bool	plot_trajectory_
bool	publish_optimized_trajectory_
double	replay_speed_
int	robot_
int	terrain_
double	total_duration_
::ros::Publisher	user_command_pub_
	the output message to TOWR.
bool	visualize_trajectory_

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Detailed Description

Translates user input into the ROS message TowrCommand.msg.

This includes high level input about where to go (e.g. converting keyboard input into a goal state), which terrain to visualize, etc.

Definition at line 45 of file towr_user_interface.h.

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Constructor & Destructor Documentation

towr::TowrUserInterface::TowrUserInterface

(

)

Constructs default object to interact with framework.

Definition at line 55 of file towr_user_interface.cc.

virtual towr::TowrUserInterface::~TowrUserInterface

(

)

[virtual]

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Member Function Documentation

int towr::TowrUserInterface::AdvanceCircularBuffer	(	int &	curr,
		int	max
	)		const [private]

Definition at line 323 of file towr_user_interface.cc.

void towr::TowrUserInterface::CallbackKey

(

int

c

)

Called whenever a keyboard key is pressed.

Parameters:

c	Unicode character of that key (see ncurses library).

Definition at line 189 of file towr_user_interface.cc.

void towr::TowrUserInterface::PrintScreen

(

)

const [private]

Definition at line 85 of file towr_user_interface.cc.

void towr::TowrUserInterface::PrintVector

(

const Eigen::Vector3d &

v

)

const [private]

Definition at line 329 of file towr_user_interface.cc.

void towr::TowrUserInterface::PrintVector2D

(

const Eigen::Vector2d &

v

)

const [private]

Definition at line 335 of file towr_user_interface.cc.

void towr::TowrUserInterface::PublishCommand

(

)

[private]

Definition at line 296 of file towr_user_interface.cc.

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Member Data Documentation

int towr::TowrUserInterface::gait_combo_ [private]

Definition at line 67 of file towr_user_interface.h.

xpp::State3dEuler towr::TowrUserInterface::goal_geom_ [private]

Definition at line 65 of file towr_user_interface.h.

bool towr::TowrUserInterface::optimize_ [private]

Definition at line 73 of file towr_user_interface.h.

bool towr::TowrUserInterface::optimize_phase_durations_ [private]

Definition at line 76 of file towr_user_interface.h.

bool towr::TowrUserInterface::play_initialization_ [private]

Definition at line 70 of file towr_user_interface.h.

bool towr::TowrUserInterface::plot_trajectory_ [private]

Definition at line 72 of file towr_user_interface.h.

bool towr::TowrUserInterface::publish_optimized_trajectory_ [private]

Definition at line 74 of file towr_user_interface.h.

double towr::TowrUserInterface::replay_speed_ [private]

Definition at line 71 of file towr_user_interface.h.

int towr::TowrUserInterface::robot_ [private]

Definition at line 68 of file towr_user_interface.h.

int towr::TowrUserInterface::terrain_ [private]

Definition at line 66 of file towr_user_interface.h.

double towr::TowrUserInterface::total_duration_ [private]

Definition at line 75 of file towr_user_interface.h.

::ros::Publisher towr::TowrUserInterface::user_command_pub_ [private]

the output message to TOWR.

Definition at line 60 of file towr_user_interface.h.

bool towr::TowrUserInterface::visualize_trajectory_ [private]

Definition at line 69 of file towr_user_interface.h.

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

• towr_user_interface.h
• towr_user_interface.cc