cob_omni_drive_controller::WheelControllerBase< T > Class Template Reference

#include <WheelControllerBase.h>

Inheritance diagram for cob_omni_drive_controller::WheelControllerBase< T >:

Classes
struct	Target

Public Member Functions
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)

Protected Member Functions
void	topicCallbackTwistCmd (const geometry_msgs::Twist::ConstPtr &msg)

Protected Attributes
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_

Detailed Description

template<typename T>
class cob_omni_drive_controller::WheelControllerBase< T >

Definition at line 39 of file WheelControllerBase.h.

Member Function Documentation

template<typename T>

bool cob_omni_drive_controller::WheelControllerBase< T >::setup ( ros::NodeHandle &  root_nh, ros::NodeHandle &  controller_nh  )

inline

Definition at line 42 of file WheelControllerBase.h.

template<typename T>

virtual void cob_omni_drive_controller::WheelControllerBase< T >::starting ( const ros::Time &  time )

inlinevirtual

Definition at line 75 of file WheelControllerBase.h.

template<typename T>

virtual void cob_omni_drive_controller::WheelControllerBase< T >::stopping ( const ros::Time &  time )

inlinevirtual

Definition at line 119 of file WheelControllerBase.h.

template<typename T>

void cob_omni_drive_controller::WheelControllerBase< T >::topicCallbackTwistCmd ( const geometry_msgs::Twist::ConstPtr &  msg )

inlineprotected

Definition at line 140 of file WheelControllerBase.h.

template<typename T>

void cob_omni_drive_controller::WheelControllerBase< T >::updateCtrl ( const ros::Time &  time, const ros::Duration &  period  )

inline

Definition at line 80 of file WheelControllerBase.h.

Member Data Documentation

template<typename T>

boost::scoped_ptr<realtime_tools::RealtimePublisher<cob_base_controller_utils::WheelCommands> > cob_omni_drive_controller::WheelControllerBase< T >::commands_pub_

protected

Definition at line 133 of file WheelControllerBase.h.

template<typename T>

uint32_t cob_omni_drive_controller::WheelControllerBase< T >::cycles_

protected

Definition at line 134 of file WheelControllerBase.h.

template<typename T>

double cob_omni_drive_controller::WheelControllerBase< T >::max_vel_rot_

protected

Definition at line 138 of file WheelControllerBase.h.

template<typename T>

double cob_omni_drive_controller::WheelControllerBase< T >::max_vel_trans_

protected

Definition at line 138 of file WheelControllerBase.h.

template<typename T>

boost::mutex cob_omni_drive_controller::WheelControllerBase< T >::mutex_

protected

Definition at line 130 of file WheelControllerBase.h.

template<typename T>

uint32_t cob_omni_drive_controller::WheelControllerBase< T >::pub_divider_

protected

Definition at line 135 of file WheelControllerBase.h.

template<typename T>

struct cob_omni_drive_controller::WheelControllerBase::Target cob_omni_drive_controller::WheelControllerBase< T >::target_

protected

template<typename T>

ros::Duration cob_omni_drive_controller::WheelControllerBase< T >::timeout_

protected

Definition at line 137 of file WheelControllerBase.h.

template<typename T>

ros::Subscriber cob_omni_drive_controller::WheelControllerBase< T >::twist_subscriber_

protected

Definition at line 131 of file WheelControllerBase.h.

template<typename T>

std::vector<WheelCommand> cob_omni_drive_controller::WheelControllerBase< T >::wheel_commands_

protected

Definition at line 128 of file WheelControllerBase.h.

---

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

• WheelControllerBase.h