#include <PTUNode.h>

Public Member Functions
bool	ok ()
	ok Method to check if the PTUNode is still working More...

	PTUNode (ros::NodeHandle &n)
	PTUNode Constructor for PTUNode class. More...

void	spinOnce ()
	spinOnce Method that is used to spin the PTUNode once, including ros::spinOnce(). Run this in a loop. More...

	~PTUNode ()

Private Member Functions
bool	emptyAlive (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

bool	getRange (asr_flir_ptu_driver::Range::Request &req, asr_flir_ptu_driver::Range::Response &res)

bool	predict (asr_flir_ptu_driver::Predict::Request &req, asr_flir_ptu_driver::Predict::Response &res)

bool	setSettings ()

bool	setSpeedControl ()

void	setState (const asr_flir_ptu_driver::State::ConstPtr &msg)

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

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

bool	validatePanTilt (asr_flir_ptu_driver::Validate::Request &req, asr_flir_ptu_driver::Validate::Response &res)

Private Attributes
ros::ServiceServer	alive_service

ros::Publisher	joint_pub

ros::Publisher	joint_pub_old

ros::Subscriber	joint_sub

ros::NodeHandle	node_handle

ros::ServiceServer	path_prediction_service

asr_flir_ptu_driver::PTUDriver *	ptu

std::string	ptu_pan_frame

std::string	ptu_pan_frame_rotated

std::string	ptu_tilt_frame

std::string	ptu_tilt_frame_rotated

std::string	ptu_topic_state

ros::ServiceServer	range_service

int	seq_num

std::string	service_alive

std::string	service_path_prediction

std::string	service_range

std::string	service_settings_update

std::string	service_speed_control_update

std::string	service_validation

ros::ServiceServer	settings_service

ros::ServiceServer	speedmode_service

tf::TransformBroadcaster	tb_pan

tf::TransformBroadcaster	tb_tilt

std::string	topic_state

std::string	topic_state_command

ros::ServiceServer	validate_service

Static Private Attributes
static constexpr double	DEG_TO_RAD = M_PI / 180.0

Detailed Description

PTUNode class.

Author: Valerij Wittenbeck, Pascal Meissner

Version: See SVN

Definition at line 26 of file PTUNode.h.

Constructor & Destructor Documentation

PTUNode::PTUNode ( ros::NodeHandle & n )

PTUNode Constructor for PTUNode class.

Parameters

n	noehandle to use

Definition at line 4 of file PTUNode.cpp.

PTUNode::~PTUNode ( )

Definition at line 65 of file PTUNode.cpp.

Member Function Documentation

bool PTUNode::emptyAlive	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

private

Definition at line 129 of file PTUNode.cpp.

bool PTUNode::getRange	(	asr_flir_ptu_driver::Range::Request &	req,
		asr_flir_ptu_driver::Range::Response &	res
	)

private

Definition at line 140 of file PTUNode.cpp.

bool PTUNode::ok ( )

ok Method to check if the PTUNode is still working

Returns: True if PTUNode stil works.

Definition at line 309 of file PTUNode.cpp.

bool PTUNode::predict	(	asr_flir_ptu_driver::Predict::Request &	req,
		asr_flir_ptu_driver::Predict::Response &	res
	)

private

Definition at line 121 of file PTUNode.cpp.

bool PTUNode::setSettings ( )

private

Definition at line 159 of file PTUNode.cpp.

bool PTUNode::setSpeedControl ( )

private

Definition at line 288 of file PTUNode.cpp.

void PTUNode::setState ( const asr_flir_ptu_driver::State::ConstPtr & msg )

private

Definition at line 72 of file PTUNode.cpp.

void PTUNode::spinOnce ( )

spinOnce Method that is used to spin the PTUNode once, including ros::spinOnce(). Run this in a loop.

Definition at line 313 of file PTUNode.cpp.

bool PTUNode::updateSettings	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

private

Definition at line 136 of file PTUNode.cpp.

bool PTUNode::updateSpeedControl	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

private

Definition at line 284 of file PTUNode.cpp.

bool PTUNode::validatePanTilt	(	asr_flir_ptu_driver::Validate::Request &	req,
		asr_flir_ptu_driver::Validate::Response &	res
	)

private

Definition at line 96 of file PTUNode.cpp.

Member Data Documentation

ros::ServiceServer PTUNode::alive_service

private

Definition at line 63 of file PTUNode.h.

constexpr double PTUNode::DEG_TO_RAD = M_PI / 180.0

staticprivate

Definition at line 96 of file PTUNode.h.

ros::Publisher PTUNode::joint_pub

private

Definition at line 60 of file PTUNode.h.

ros::Publisher PTUNode::joint_pub_old

private

Definition at line 61 of file PTUNode.h.

ros::Subscriber PTUNode::joint_sub

private

Definition at line 59 of file PTUNode.h.

ros::NodeHandle PTUNode::node_handle

private

Definition at line 57 of file PTUNode.h.

ros::ServiceServer PTUNode::path_prediction_service

private

Definition at line 66 of file PTUNode.h.

asr_flir_ptu_driver::PTUDriver* PTUNode::ptu

private

Definition at line 56 of file PTUNode.h.

std::string PTUNode::ptu_pan_frame

private

Definition at line 78 of file PTUNode.h.

std::string PTUNode::ptu_pan_frame_rotated

private

Definition at line 79 of file PTUNode.h.

std::string PTUNode::ptu_tilt_frame

private

Definition at line 80 of file PTUNode.h.

std::string PTUNode::ptu_tilt_frame_rotated

private

Definition at line 81 of file PTUNode.h.

std::string PTUNode::ptu_topic_state

private

Definition at line 71 of file PTUNode.h.

ros::ServiceServer PTUNode::range_service

private

Definition at line 67 of file PTUNode.h.

int PTUNode::seq_num

private

Definition at line 69 of file PTUNode.h.

std::string PTUNode::service_alive

private

Definition at line 92 of file PTUNode.h.

std::string PTUNode::service_path_prediction

private

Definition at line 93 of file PTUNode.h.

std::string PTUNode::service_range

private

Definition at line 90 of file PTUNode.h.

std::string PTUNode::service_settings_update

private

Definition at line 88 of file PTUNode.h.

std::string PTUNode::service_speed_control_update

private

Definition at line 89 of file PTUNode.h.

std::string PTUNode::service_validation

private

Definition at line 91 of file PTUNode.h.

ros::ServiceServer PTUNode::settings_service

private

Definition at line 64 of file PTUNode.h.

ros::ServiceServer PTUNode::speedmode_service

private

Definition at line 65 of file PTUNode.h.

tf::TransformBroadcaster PTUNode::tb_pan

private

Definition at line 74 of file PTUNode.h.

tf::TransformBroadcaster PTUNode::tb_tilt

private

Definition at line 75 of file PTUNode.h.

std::string PTUNode::topic_state

private

Definition at line 85 of file PTUNode.h.

std::string PTUNode::topic_state_command

private

Definition at line 84 of file PTUNode.h.

ros::ServiceServer PTUNode::validate_service

private

Definition at line 62 of file PTUNode.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation