SetTwistHandler Class Reference

#include <SetTwistHandler.h>

Inheritance diagram for SetTwistHandler:

List of all members.

Public Member Functions
unsigned int	getObjectType () const
void	handleSimulation ()
	SetTwistHandler ()
void	synchronize ()
	~SetTwistHandler ()
Static Public Attributes
static const unsigned int	SET_OBJ_TWIST_DATA_ANG_GAIN = SET_OBJ_TWIST_DATA_LIN_GAIN+1
static const unsigned int	SET_OBJ_TWIST_DATA_LIN_GAIN = SET_OBJ_TWIST_DATA_MAIN+1
static const unsigned int	SET_OBJ_TWIST_DATA_MAIN = 550
	The main identifier of a Set Twist object.
Protected Member Functions
void	_initialize ()
void	TwistCommandCallback (const geometry_msgs::TwistStamped &msg)
Protected Attributes
simFloat	_angGain
simInt	_isStatic
simFloat	_linGain
ros::Subscriber	_sub
geometry_msgs::TwistStamped	_twistCommands

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Detailed Description

Handler to control the velocity of an object. It automatically subscribes to geometry_msgs/TwistStamped messages for receiving twist commands. To move the object, generate a message geometry_msgs/TwistStamped in the topic /vrep/object_name_Vrep/SetTwist

Definition at line 15 of file SetTwistHandler.h.

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Constructor & Destructor Documentation

SetTwistHandler::SetTwistHandler

(

)

Definition at line 14 of file SetTwistHandler.cpp.

SetTwistHandler::~SetTwistHandler

(

)

Definition at line 22 of file SetTwistHandler.cpp.

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Member Function Documentation

void SetTwistHandler::_initialize

(

)

[protected, virtual]

Implements GenericObjectHandler.

Definition at line 138 of file SetTwistHandler.cpp.

unsigned int SetTwistHandler::getObjectType

(

)

const [virtual]

Implements GenericObjectHandler.

Definition at line 25 of file SetTwistHandler.cpp.

void SetTwistHandler::handleSimulation

(

)

[virtual]

Implements GenericObjectHandler.

Definition at line 59 of file SetTwistHandler.cpp.

void SetTwistHandler::synchronize

(

)

[virtual]

Reimplemented from GenericObjectHandler.

Definition at line 29 of file SetTwistHandler.cpp.

void SetTwistHandler::TwistCommandCallback

(

const geometry_msgs::TwistStamped &

msg

)

[protected]

Callback for velocity commands.

Definition at line 182 of file SetTwistHandler.cpp.

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Member Data Documentation

simFloat SetTwistHandler::_angGain [protected]

Definition at line 69 of file SetTwistHandler.h.

simInt SetTwistHandler::_isStatic [protected]

Specifies if the object is static or dynamically enabled

Definition at line 66 of file SetTwistHandler.h.

simFloat SetTwistHandler::_linGain [protected]

Definition at line 68 of file SetTwistHandler.h.

ros::Subscriber SetTwistHandler::_sub [protected]

Subscriber for Obj twist.

Definition at line 51 of file SetTwistHandler.h.

geometry_msgs::TwistStamped SetTwistHandler::_twistCommands [protected]

Last received TwistCommand message.

Definition at line 56 of file SetTwistHandler.h.

const unsigned int SetTwistHandler::SET_OBJ_TWIST_DATA_ANG_GAIN = SET_OBJ_TWIST_DATA_LIN_GAIN+1 [static]

Definition at line 39 of file SetTwistHandler.h.

const unsigned int SetTwistHandler::SET_OBJ_TWIST_DATA_LIN_GAIN = SET_OBJ_TWIST_DATA_MAIN+1 [static]

Definition at line 38 of file SetTwistHandler.h.

const unsigned int SetTwistHandler::SET_OBJ_TWIST_DATA_MAIN = 550 [static]

The main identifier of a Set Twist object.

Definition at line 37 of file SetTwistHandler.h.

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

• SetTwistHandler.h
• SetTwistHandler.cpp