#include <ackermann_steering_bot.h>

Inheritance diagram for AckermannSteeringBot:

Public Member Functions
	AckermannSteeringBot ()

ros::Duration	getPeriod () const

ros::Time	getTime () const

void	read ()

bool	startCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	stopCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

void	write ()

Public Member Functions inherited from hardware_interface::RobotHW
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

virtual void	read (const ros::Time &time, const ros::Duration &period)

virtual void	read (const ros::Time &time, const ros::Duration &period)

	RobotHW ()

virtual void	write (const ros::Time &time, const ros::Duration &period)

virtual void	write (const ros::Time &time, const ros::Duration &period)

virtual	~RobotHW ()

Public Member Functions inherited from hardware_interface::InterfaceManager
T *	get ()

std::vector< std::string >	getInterfaceResources (std::string iface_type) const

std::vector< std::string >	getNames () const

void	registerInterface (T *iface)

void	registerInterfaceManager (InterfaceManager *iface_man)

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_

Additional Inherited Members
Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager * >	InterfaceManagerVector

typedef std::map< std::string, void * >	InterfaceMap

typedef std::map< std::string, std::vector< std::string > >	ResourceMap

typedef std::map< std::string, size_t >	SizeMap

Protected Attributes inherited from hardware_interface::InterfaceManager
boost::ptr_vector< ResourceManagerBase >	interface_destruction_list_

InterfaceManagerVector	interface_managers_

InterfaceMap	interfaces_

InterfaceMap	interfaces_combo_

SizeMap	num_ifaces_registered_

ResourceMap	resources_

Detailed Description

Definition at line 55 of file ackermann_steering_bot.h.

Constructor & Destructor Documentation

AckermannSteeringBot::AckermannSteeringBot ( )

inline

Definition at line 58 of file ackermann_steering_bot.h.

Member Function Documentation

void AckermannSteeringBot::cleanUp ( )

inlineprivate

Definition at line 198 of file ackermann_steering_bot.h.

void AckermannSteeringBot::getJointNames ( ros::NodeHandle & _nh )

inlineprivate

Definition at line 236 of file ackermann_steering_bot.h.

ros::Duration AckermannSteeringBot::getPeriod ( ) const

inline

Definition at line 76 of file ackermann_steering_bot.h.

void AckermannSteeringBot::getSteerJointNames ( ros::NodeHandle & _nh )

inlineprivate

Definition at line 263 of file ackermann_steering_bot.h.

ros::Time AckermannSteeringBot::getTime ( ) const

inline

Definition at line 75 of file ackermann_steering_bot.h.

void AckermannSteeringBot::getWheelJointNames ( ros::NodeHandle & _nh )

inlineprivate

Definition at line 242 of file ackermann_steering_bot.h.

void AckermannSteeringBot::read ( )

inline

Definition at line 78 of file ackermann_steering_bot.h.

void AckermannSteeringBot::registerCommandJointInterfaceHandle	(	hardware_interface::JointStateInterface &	_jnt_state_interface,
		hardware_interface::JointCommandInterface &	_jnt_cmd_interface,
		const std::string	_jnt_name,
		double &	_jnt_cmd
	)

inlineprivate

Definition at line 353 of file ackermann_steering_bot.h.

void AckermannSteeringBot::registerHardwareInterfaces ( )

inlineprivate

Definition at line 278 of file ackermann_steering_bot.h.

void AckermannSteeringBot::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
	)

inlineprivate

Definition at line 328 of file ackermann_steering_bot.h.

void AckermannSteeringBot::registerJointStateInterfaceHandle	(	hardware_interface::JointStateInterface &	_jnt_state_interface,
		const std::string	_jnt_name,
		double &	_jnt_pos,
		double &	_jnt_vel,
		double &	_jnt_eff
	)

inlineprivate

Definition at line 340 of file ackermann_steering_bot.h.

void AckermannSteeringBot::registerSteerInterface ( )

inlineprivate

Definition at line 312 of file ackermann_steering_bot.h.

void AckermannSteeringBot::registerWheelInterface ( )

inlineprivate

Definition at line 289 of file ackermann_steering_bot.h.

bool AckermannSteeringBot::startCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

inline

Definition at line 182 of file ackermann_steering_bot.h.

bool AckermannSteeringBot::stopCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

inline

Definition at line 189 of file ackermann_steering_bot.h.

void AckermannSteeringBot::write ( )

inline

Definition at line 109 of file ackermann_steering_bot.h.

Member Data Documentation

double AckermannSteeringBot::front_steer_jnt_eff_

private

Definition at line 408 of file ackermann_steering_bot.h.

std::string AckermannSteeringBot::front_steer_jnt_name_

private

Definition at line 404 of file ackermann_steering_bot.h.

double AckermannSteeringBot::front_steer_jnt_pos_

private

Definition at line 406 of file ackermann_steering_bot.h.

double AckermannSteeringBot::front_steer_jnt_pos_cmd_

private

Definition at line 410 of file ackermann_steering_bot.h.

hardware_interface::PositionJointInterface AckermannSteeringBot::front_steer_jnt_pos_cmd_interface_

private

Definition at line 412 of file ackermann_steering_bot.h.

double AckermannSteeringBot::front_steer_jnt_vel_

private

Definition at line 407 of file ackermann_steering_bot.h.

hardware_interface::JointStateInterface AckermannSteeringBot::jnt_state_interface_

private

Definition at line 368 of file ackermann_steering_bot.h.

ros::NodeHandle AckermannSteeringBot::nh_

private

Definition at line 433 of file ackermann_steering_bot.h.

std::string AckermannSteeringBot::ns_

private

Definition at line 430 of file ackermann_steering_bot.h.

double AckermannSteeringBot::rear_wheel_jnt_eff_

private

Definition at line 375 of file ackermann_steering_bot.h.

std::string AckermannSteeringBot::rear_wheel_jnt_name_

private

Definition at line 371 of file ackermann_steering_bot.h.

double AckermannSteeringBot::rear_wheel_jnt_pos_

private

Definition at line 373 of file ackermann_steering_bot.h.

double AckermannSteeringBot::rear_wheel_jnt_vel_

private

Definition at line 374 of file ackermann_steering_bot.h.

double AckermannSteeringBot::rear_wheel_jnt_vel_cmd_

private

Definition at line 377 of file ackermann_steering_bot.h.

hardware_interface::VelocityJointInterface AckermannSteeringBot::rear_wheel_jnt_vel_cmd_interface_

private

Definition at line 379 of file ackermann_steering_bot.h.

bool AckermannSteeringBot::running_

private

Definition at line 431 of file ackermann_steering_bot.h.

ros::ServiceServer AckermannSteeringBot::start_srv_

private

Definition at line 434 of file ackermann_steering_bot.h.

ros::ServiceServer AckermannSteeringBot::stop_srv_

private

Definition at line 435 of file ackermann_steering_bot.h.

std::vector<double> AckermannSteeringBot::virtual_front_steer_jnt_eff_

private

Definition at line 421 of file ackermann_steering_bot.h.

std::vector<std::string> AckermannSteeringBot::virtual_front_steer_jnt_names_

private

Definition at line 417 of file ackermann_steering_bot.h.

std::vector<double> AckermannSteeringBot::virtual_front_steer_jnt_pos_

private

Definition at line 419 of file ackermann_steering_bot.h.

std::vector<double> AckermannSteeringBot::virtual_front_steer_jnt_pos_cmd_

private

Definition at line 423 of file ackermann_steering_bot.h.

std::vector<double> AckermannSteeringBot::virtual_front_steer_jnt_vel_

private

Definition at line 420 of file ackermann_steering_bot.h.

std::vector<double> AckermannSteeringBot::virtual_front_wheel_jnt_eff_

private

Definition at line 397 of file ackermann_steering_bot.h.

std::vector<std::string> AckermannSteeringBot::virtual_front_wheel_jnt_names_

private

Definition at line 393 of file ackermann_steering_bot.h.

std::vector<double> AckermannSteeringBot::virtual_front_wheel_jnt_pos_

private

Definition at line 395 of file ackermann_steering_bot.h.

std::vector<double> AckermannSteeringBot::virtual_front_wheel_jnt_vel_

private

Definition at line 396 of file ackermann_steering_bot.h.

std::vector<double> AckermannSteeringBot::virtual_front_wheel_jnt_vel_cmd_

private

Definition at line 399 of file ackermann_steering_bot.h.

std::vector<double> AckermannSteeringBot::virtual_rear_wheel_jnt_eff_

private

Definition at line 388 of file ackermann_steering_bot.h.

std::vector<std::string> AckermannSteeringBot::virtual_rear_wheel_jnt_names_

private

Definition at line 384 of file ackermann_steering_bot.h.

std::vector<double> AckermannSteeringBot::virtual_rear_wheel_jnt_pos_

private

Definition at line 386 of file ackermann_steering_bot.h.

std::vector<double> AckermannSteeringBot::virtual_rear_wheel_jnt_vel_

private

Definition at line 387 of file ackermann_steering_bot.h.

std::vector<double> AckermannSteeringBot::virtual_rear_wheel_jnt_vel_cmd_

private

Definition at line 390 of file ackermann_steering_bot.h.

double AckermannSteeringBot::wheel_separation_h_

private

Definition at line 428 of file ackermann_steering_bot.h.

double AckermannSteeringBot::wheel_separation_w_

private

Definition at line 426 of file ackermann_steering_bot.h.

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

ackermann_steering_bot.h

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation