Inheritance diagram for hector_quadrotor_controller::MotorController:

Public Member Functions
bool	init (QuadrotorInterface *interface, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)

	MotorController ()

void	reset ()

void	starting (const ros::Time &time)

void	stopping (const ros::Time &time)

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

void	wrenchCommandCallback (const geometry_msgs::WrenchStampedConstPtr &command)

	~MotorController ()

Public Member Functions inherited from controller_interface::Controller< QuadrotorInterface >
	Controller ()

virtual bool	init (QuadrotorInterface *, ros::NodeHandle &)

virtual bool	init (QuadrotorInterface *, ros::NodeHandle &, ros::NodeHandle &)

virtual	~Controller ()

Public Member Functions inherited from controller_interface::ControllerBase
	ControllerBase ()

bool	isRunning ()

bool	isRunning ()

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

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

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

virtual	~ControllerBase ()

Private Attributes
std::string	base_link_frame_

ros::ServiceServer	engage_service_server_

hector_uav_msgs::MotorCommand	motor_

MotorCommandHandlePtr	motor_output_

ros::NodeHandle *	node_handle_

struct {
double force_per_voltage

double lever

double torque_per_voltage

}	parameters_

ros::ServiceServer	shutdown_service_server_

geometry_msgs::WrenchStamped	wrench_

WrenchCommandHandlePtr	wrench_input_

ros::Subscriber	wrench_subscriber_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED

	INITIALIZED

	RUNNING

enum controller_interface::ControllerBase:: { ... }	state_

Protected Member Functions inherited from controller_interface::Controller< QuadrotorInterface >
std::string	getHardwareInterfaceType () const

virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)

Detailed Description

Definition at line 42 of file motor_controller.cpp.

Constructor & Destructor Documentation

hector_quadrotor_controller::MotorController::MotorController ( )

inline

Definition at line 45 of file motor_controller.cpp.

hector_quadrotor_controller::MotorController::~MotorController ( )

inline

Definition at line 49 of file motor_controller.cpp.

Member Function Documentation

bool hector_quadrotor_controller::MotorController::init	(	QuadrotorInterface *	interface,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

inline

Definition at line 58 of file motor_controller.cpp.

void hector_quadrotor_controller::MotorController::reset ( )

inline

Definition at line 86 of file motor_controller.cpp.

void hector_quadrotor_controller::MotorController::starting ( const ros::Time & time )

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 110 of file motor_controller.cpp.

void hector_quadrotor_controller::MotorController::stopping ( const ros::Time & time )

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 116 of file motor_controller.cpp.

void hector_quadrotor_controller::MotorController::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)

inlinevirtual

Implements controller_interface::ControllerBase.

Definition at line 121 of file motor_controller.cpp.

void hector_quadrotor_controller::MotorController::wrenchCommandCallback ( const geometry_msgs::WrenchStampedConstPtr & command )

inline

Definition at line 101 of file motor_controller.cpp.

Member Data Documentation

std::string hector_quadrotor_controller::MotorController::base_link_frame_

private

Definition at line 174 of file motor_controller.cpp.

ros::ServiceServer hector_quadrotor_controller::MotorController::engage_service_server_

private

Definition at line 169 of file motor_controller.cpp.

double hector_quadrotor_controller::MotorController::force_per_voltage

Definition at line 177 of file motor_controller.cpp.

double hector_quadrotor_controller::MotorController::lever

Definition at line 179 of file motor_controller.cpp.

hector_uav_msgs::MotorCommand hector_quadrotor_controller::MotorController::motor_

private

Definition at line 173 of file motor_controller.cpp.

MotorCommandHandlePtr hector_quadrotor_controller::MotorController::motor_output_

private

Definition at line 165 of file motor_controller.cpp.

ros::NodeHandle* hector_quadrotor_controller::MotorController::node_handle_

private

Definition at line 167 of file motor_controller.cpp.

struct { ... } hector_quadrotor_controller::MotorController::parameters_

ros::ServiceServer hector_quadrotor_controller::MotorController::shutdown_service_server_

private

Definition at line 170 of file motor_controller.cpp.

double hector_quadrotor_controller::MotorController::torque_per_voltage

Definition at line 178 of file motor_controller.cpp.

geometry_msgs::WrenchStamped hector_quadrotor_controller::MotorController::wrench_

private

Definition at line 172 of file motor_controller.cpp.

WrenchCommandHandlePtr hector_quadrotor_controller::MotorController::wrench_input_

private

Definition at line 164 of file motor_controller.cpp.

ros::Subscriber hector_quadrotor_controller::MotorController::wrench_subscriber_

private

Definition at line 168 of file motor_controller.cpp.

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

motor_controller.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation