YpspurRosNode Class Reference

List of all members.

Classes
class	AdParams
class	DioParams
class	JointParams
Public Member Functions
void	spin ()
	YpspurRosNode ()
	~YpspurRosNode ()
Private Types
enum	OdometryMode { DIFF, NONE }
Private Member Functions
void	cbAngle (const std_msgs::Float32::ConstPtr &msg, int num)
void	cbCmdVel (const geometry_msgs::Twist::ConstPtr &msg)
void	cbControlMode (const ypspur_ros::ControlMode::ConstPtr &msg)
void	cbDigitalOutput (const ypspur_ros::DigitalOutput::ConstPtr &msg, int id_)
void	cbJoint (const trajectory_msgs::JointTrajectory::ConstPtr &msg)
void	cbJointPosition (const ypspur_ros::JointPositionControl::ConstPtr &msg)
void	cbSetAccel (const std_msgs::Float32::ConstPtr &msg, int num)
void	cbSetVel (const std_msgs::Float32::ConstPtr &msg, int num)
void	cbVel (const std_msgs::Float32::ConstPtr &msg, int num)
void	revertDigitalOutput (int id_)
void	updateDiagnostics (const ros::Time &now, const bool connection_down=false)
Private Attributes
const int	ad_num_ = 8
std::vector< AdParams >	ads_
geometry_msgs::Twist::ConstPtr	cmd_vel_
ros::Duration	cmd_vel_expire_
ros::Time	cmd_vel_time_
int	control_mode_
int	device_error_state_
int	device_error_state_prev_
ros::Time	device_error_state_time_
bool	digital_input_enable_
unsigned int	dio_dir_
unsigned int	dio_dir_default_
const int	dio_num_ = 8
unsigned int	dio_output_
unsigned int	dio_output_default_
std::map< int, ros::Time >	dio_revert_
std::vector< DioParams >	dios_
std::map< std::string, std::string >	frames_
std::map< std::string, int >	joint_name_to_num_
std::vector< JointParams >	joints_
int	key_
OdometryMode	mode_
ros::NodeHandle	nh_
std::string	param_file_
std::map< std::string, double >	params_
pid_t	pid_
ros::NodeHandle	pnh_
std::string	port_
std::map< std::string, ros::Publisher >	pubs_
bool	simulate_
bool	simulate_control_
std::map< std::string, ros::Subscriber >	subs_
tf::TransformBroadcaster	tf_broadcaster_
tf::TransformListener	tf_listener_
double	tf_time_offset_
std::string	ypspur_bin_

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Detailed Description

Definition at line 79 of file ypspur_ros.cpp.

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Member Enumeration Documentation

enum YpspurRosNode::OdometryMode [private]

Enumerator:

DIFF
NONE

Definition at line 102 of file ypspur_ros.cpp.

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Constructor & Destructor Documentation

YpspurRosNode::YpspurRosNode

(

)

[inline]

Definition at line 452 of file ypspur_ros.cpp.

YpspurRosNode::~YpspurRosNode

(

)

[inline]

Definition at line 783 of file ypspur_ros.cpp.

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Member Function Documentation

void YpspurRosNode::cbAngle	(	const std_msgs::Float32::ConstPtr &	msg,
		int	num
	)		[inline, private]

Definition at line 282 of file ypspur_ros.cpp.

void YpspurRosNode::cbCmdVel

(

const geometry_msgs::Twist::ConstPtr &

msg

)

[inline, private]

Definition at line 183 of file ypspur_ros.cpp.

void YpspurRosNode::cbControlMode

(

const ypspur_ros::ControlMode::ConstPtr &

msg

)

[inline, private]

Definition at line 168 of file ypspur_ros.cpp.

void YpspurRosNode::cbDigitalOutput	(	const ypspur_ros::DigitalOutput::ConstPtr &	msg,
		int	id_
	)		[inline, private]

Definition at line 323 of file ypspur_ros.cpp.

void YpspurRosNode::cbJoint

(

const trajectory_msgs::JointTrajectory::ConstPtr &

msg

)

[inline, private]

Definition at line 192 of file ypspur_ros.cpp.

void YpspurRosNode::cbJointPosition

(

const ypspur_ros::JointPositionControl::ConstPtr &

msg

)

[inline, private]

Definition at line 292 of file ypspur_ros.cpp.

void YpspurRosNode::cbSetAccel	(	const std_msgs::Float32::ConstPtr &	msg,
		int	num
	)		[inline, private]

Definition at line 261 of file ypspur_ros.cpp.

void YpspurRosNode::cbSetVel	(	const std_msgs::Float32::ConstPtr &	msg,
		int	num
	)		[inline, private]

Definition at line 251 of file ypspur_ros.cpp.

void YpspurRosNode::cbVel	(	const std_msgs::Float32::ConstPtr &	msg,
		int	num
	)		[inline, private]

Definition at line 271 of file ypspur_ros.cpp.

void YpspurRosNode::revertDigitalOutput

(

int

id_

)

[inline, private]

Definition at line 361 of file ypspur_ros.cpp.

void YpspurRosNode::spin

(

)

[inline]

Definition at line 795 of file ypspur_ros.cpp.

void YpspurRosNode::updateDiagnostics	(	const ros::Time &	now,
		const bool	connection_down = false
	)		[inline, private]

Definition at line 379 of file ypspur_ros.cpp.

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Member Data Documentation

const int YpspurRosNode::ad_num_ = 8 [private]

Definition at line 150 of file ypspur_ros.cpp.

std::vector<AdParams> YpspurRosNode::ads_ [private]

Definition at line 148 of file ypspur_ros.cpp.

geometry_msgs::Twist::ConstPtr YpspurRosNode::cmd_vel_ [private]

Definition at line 162 of file ypspur_ros.cpp.

ros::Duration YpspurRosNode::cmd_vel_expire_ [private]

Definition at line 164 of file ypspur_ros.cpp.

ros::Time YpspurRosNode::cmd_vel_time_ [private]

Definition at line 163 of file ypspur_ros.cpp.

int YpspurRosNode::control_mode_ [private]

Definition at line 166 of file ypspur_ros.cpp.

int YpspurRosNode::device_error_state_ [private]

Definition at line 158 of file ypspur_ros.cpp.

int YpspurRosNode::device_error_state_prev_ [private]

Definition at line 159 of file ypspur_ros.cpp.

ros::Time YpspurRosNode::device_error_state_time_ [private]

Definition at line 160 of file ypspur_ros.cpp.

bool YpspurRosNode::digital_input_enable_ [private]

Definition at line 147 of file ypspur_ros.cpp.

unsigned int YpspurRosNode::dio_dir_ [private]

Definition at line 152 of file ypspur_ros.cpp.

unsigned int YpspurRosNode::dio_dir_default_ [private]

Definition at line 154 of file ypspur_ros.cpp.

const int YpspurRosNode::dio_num_ = 8 [private]

Definition at line 155 of file ypspur_ros.cpp.

unsigned int YpspurRosNode::dio_output_ [private]

Definition at line 151 of file ypspur_ros.cpp.

unsigned int YpspurRosNode::dio_output_default_ [private]

Definition at line 153 of file ypspur_ros.cpp.

std::map<int, ros::Time> YpspurRosNode::dio_revert_ [private]

Definition at line 156 of file ypspur_ros.cpp.

std::vector<DioParams> YpspurRosNode::dios_ [private]

Definition at line 149 of file ypspur_ros.cpp.

std::map<std::string, std::string> YpspurRosNode::frames_ [private]

Definition at line 92 of file ypspur_ros.cpp.

std::map<std::string, int> YpspurRosNode::joint_name_to_num_ [private]

Definition at line 129 of file ypspur_ros.cpp.

std::vector<JointParams> YpspurRosNode::joints_ [private]

Definition at line 128 of file ypspur_ros.cpp.

int YpspurRosNode::key_ [private]

Definition at line 94 of file ypspur_ros.cpp.

OdometryMode YpspurRosNode::mode_ [private]

Definition at line 107 of file ypspur_ros.cpp.

ros::NodeHandle YpspurRosNode::nh_ [private]

Definition at line 82 of file ypspur_ros.cpp.

std::string YpspurRosNode::param_file_ [private]

Definition at line 90 of file ypspur_ros.cpp.

std::map<std::string, double> YpspurRosNode::params_ [private]

Definition at line 93 of file ypspur_ros.cpp.

pid_t YpspurRosNode::pid_ [private]

Definition at line 100 of file ypspur_ros.cpp.

ros::NodeHandle YpspurRosNode::pnh_ [private]

Definition at line 83 of file ypspur_ros.cpp.

std::string YpspurRosNode::port_ [private]

Definition at line 89 of file ypspur_ros.cpp.

std::map<std::string, ros::Publisher> YpspurRosNode::pubs_ [private]

Definition at line 84 of file ypspur_ros.cpp.

bool YpspurRosNode::simulate_ [private]

Definition at line 95 of file ypspur_ros.cpp.

bool YpspurRosNode::simulate_control_ [private]

Definition at line 96 of file ypspur_ros.cpp.

std::map<std::string, ros::Subscriber> YpspurRosNode::subs_ [private]

Definition at line 85 of file ypspur_ros.cpp.

tf::TransformBroadcaster YpspurRosNode::tf_broadcaster_ [private]

Definition at line 87 of file ypspur_ros.cpp.

tf::TransformListener YpspurRosNode::tf_listener_ [private]

Definition at line 86 of file ypspur_ros.cpp.

double YpspurRosNode::tf_time_offset_ [private]

Definition at line 98 of file ypspur_ros.cpp.

std::string YpspurRosNode::ypspur_bin_ [private]

Definition at line 91 of file ypspur_ros.cpp.

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

• ypspur_ros.cpp