cob_omni_drive_controller::WheelController Class Reference

Inheritance diagram for cob_omni_drive_controller::WheelController:

Classes
class	PosCtrl

Public Member Functions
virtual bool	init (hardware_interface::VelocityJointInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
virtual void	update (const ros::Time &time, const ros::Duration &period)
Public Member Functions inherited from cob_omni_drive_controller::WheelControllerBase< GeomController< hardware_interface::VelocityJointInterface, UndercarriageCtrl > >
bool	setup (ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
virtual void	starting (const ros::Time &time)
virtual void	stopping (const ros::Time &time)
void	updateCtrl (const ros::Time &time, const ros::Duration &period)
Public Member Functions inherited from cob_omni_drive_controller::GeomController< hardware_interface::VelocityJointInterface, UndercarriageCtrl >
bool	init (hardware_interface::VelocityJointInterface *hw, ros::NodeHandle &controller_nh)
bool	init (hardware_interface::VelocityJointInterface *hw, const wheel_params_t &wheel_params)
Public Member Functions inherited from cob_omni_drive_controller::GeomControllerBase< hardware_interface::VelocityJointInterface::ResourceHandleType, UndercarriageCtrl >
void	updateState ()

Public Attributes
class cob_omni_drive_controller::WheelController::PosCtrl	pos_ctrl_

Additional Inherited Members
Public Types inherited from cob_omni_drive_controller::GeomController< hardware_interface::VelocityJointInterface, UndercarriageCtrl >
typedef std::vector< typename UndercarriageCtrl::WheelParams >	wheel_params_t
Protected Member Functions inherited from cob_omni_drive_controller::WheelControllerBase< GeomController< hardware_interface::VelocityJointInterface, UndercarriageCtrl > >
void	topicCallbackTwistCmd (const geometry_msgs::Twist::ConstPtr &msg)
Protected Member Functions inherited from cob_omni_drive_controller::GeomControllerBase< hardware_interface::VelocityJointInterface::ResourceHandleType, UndercarriageCtrl >
bool	setup (const std::vector< typename UndercarriageCtrl::WheelParams > &wheel_params)
Protected Attributes inherited from cob_omni_drive_controller::WheelControllerBase< GeomController< hardware_interface::VelocityJointInterface, UndercarriageCtrl > >
boost::scoped_ptr< realtime_tools::RealtimePublisher< cob_base_controller_utils::WheelCommands > >	commands_pub_
uint32_t	cycles_
double	max_vel_rot_
double	max_vel_trans_
boost::mutex	mutex_
uint32_t	pub_divider_
struct cob_omni_drive_controller::WheelControllerBase::Target	target_
ros::Duration	timeout_
ros::Subscriber	twist_subscriber_
std::vector< WheelCommand >	wheel_commands_
Protected Attributes inherited from cob_omni_drive_controller::GeomControllerBase< hardware_interface::VelocityJointInterface::ResourceHandleType, UndercarriageCtrl >
std::vector< hardware_interface::VelocityJointInterface::ResourceHandleType >	drive_joints_
boost::scoped_ptr< UndercarriageCtrl >	geom_
std::vector< hardware_interface::VelocityJointInterface::ResourceHandleType >	steer_joints_
std::vector< WheelState >	wheel_states_

Detailed Description

Definition at line 27 of file control_plugin.cpp.

Member Function Documentation

virtual bool cob_omni_drive_controller::WheelController::init ( hardware_interface::VelocityJointInterface *  hw, ros::NodeHandle &  root_nh, ros::NodeHandle &  controller_nh  )

inlinevirtual

Definition at line 30 of file control_plugin.cpp.

virtual void cob_omni_drive_controller::WheelController::update ( const ros::Time &  time, const ros::Duration &  period  )

inlinevirtual

Definition at line 39 of file control_plugin.cpp.

Member Data Documentation

class cob_omni_drive_controller::WheelController::PosCtrl cob_omni_drive_controller::WheelController::pos_ctrl_

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

• control_plugin.cpp