Public Member Functions | Private Types | Private Member Functions | Private Attributes
Controller Class Reference

List of all members.

Public Member Functions

 Controller (const std::string &worldFrame, const std::string &frame, const ros::NodeHandle &n)
void run (double frequency)

Private Types

enum  State { Idle = 0, Automatic = 1, TakingOff = 2, Landing = 3 }

Private Member Functions

void getTransform (const std::string &sourceFrame, const std::string &targetFrame, tf::StampedTransform &result)
void goalChanged (const geometry_msgs::PoseStamped::ConstPtr &msg)
void iteration (const ros::TimerEvent &e)
bool land (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void pidReset ()
bool takeoff (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

Private Attributes

std::string m_frame
geometry_msgs::PoseStamped m_goal
tf::TransformListener m_listener
PID m_pidX
PID m_pidY
PID m_pidYaw
PID m_pidZ
ros::Publisher m_pubNav
ros::ServiceServer m_serviceLand
ros::ServiceServer m_serviceTakeoff
float m_startZ
State m_state
ros::Subscriber m_subscribeGoal
float m_thrust
std::string m_worldFrame

Detailed Description

Definition at line 17 of file controller.cpp.


Member Enumeration Documentation

enum Controller::State [private]
Enumerator:
Idle 
Automatic 
TakingOff 
Landing 

Definition at line 217 of file controller.cpp.


Constructor & Destructor Documentation

Controller::Controller ( const std::string &  worldFrame,
const std::string &  frame,
const ros::NodeHandle &  n 
) [inline]

Definition at line 21 of file controller.cpp.


Member Function Documentation

void Controller::getTransform ( const std::string &  sourceFrame,
const std::string &  targetFrame,
tf::StampedTransform &  result 
) [inline, private]

Definition at line 119 of file controller.cpp.

void Controller::goalChanged ( const geometry_msgs::PoseStamped::ConstPtr &  msg) [inline, private]

Definition at line 89 of file controller.cpp.

void Controller::iteration ( const ros::TimerEvent &  e) [inline, private]

Definition at line 135 of file controller.cpp.

bool Controller::land ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
) [inline, private]

Definition at line 109 of file controller.cpp.

void Controller::pidReset ( ) [inline, private]

Definition at line 127 of file controller.cpp.

void Controller::run ( double  frequency) [inline]

Definition at line 81 of file controller.cpp.

bool Controller::takeoff ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
) [inline, private]

Definition at line 95 of file controller.cpp.


Member Data Documentation

std::string Controller::m_frame [private]

Definition at line 227 of file controller.cpp.

geometry_msgs::PoseStamped Controller::m_goal [private]

Definition at line 235 of file controller.cpp.

tf::TransformListener Controller::m_listener [private]

Definition at line 229 of file controller.cpp.

Definition at line 230 of file controller.cpp.

Definition at line 231 of file controller.cpp.

Definition at line 233 of file controller.cpp.

Definition at line 232 of file controller.cpp.

ros::Publisher Controller::m_pubNav [private]

Definition at line 228 of file controller.cpp.

ros::ServiceServer Controller::m_serviceLand [private]

Definition at line 238 of file controller.cpp.

ros::ServiceServer Controller::m_serviceTakeoff [private]

Definition at line 237 of file controller.cpp.

float Controller::m_startZ [private]

Definition at line 240 of file controller.cpp.

Definition at line 234 of file controller.cpp.

ros::Subscriber Controller::m_subscribeGoal [private]

Definition at line 236 of file controller.cpp.

float Controller::m_thrust [private]

Definition at line 239 of file controller.cpp.

std::string Controller::m_worldFrame [private]

Definition at line 226 of file controller.cpp.


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


crazyflie_controller
Author(s): Wolfgang Hoenig
autogenerated on Sun Oct 8 2017 02:47:57