controller::CasterController Class Reference

#include <caster_controller.h>

Inheritance diagram for controller::CasterController:

Public Member Functions
	CasterController ()
double	getSteerPosition ()
double	getSteerVelocity ()
bool	init (pr2_mechanism_model::RobotState *robot_state, const std::string &caster_joint, const std::string &wheel_l_joint, const std::string &wheel_r_joint, const control_toolbox::Pid &caster_pid, const control_toolbox::Pid &wheel_pid)
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
void	update ()
	~CasterController ()
Public Member Functions inherited from pr2_controller_interface::Controller
	Controller ()
bool	getController (const std::string &name, int sched, ControllerType *&c)
bool	initRequest (ControllerProvider *cp, pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
bool	isRunning ()
void	starting (const ros::Time &time)
virtual void	starting ()
bool	startRequest ()
void	stopping (const ros::Time &time)
virtual void	stopping ()
bool	stopRequest ()
void	update (const ros::Time &time, const ros::Duration &period)
void	updateRequest ()
virtual	~Controller ()

Public Attributes
pr2_mechanism_model::JointState *	caster_
double	drive_velocity_
double	steer_velocity_
Public Attributes inherited from pr2_controller_interface::Controller
std::vector< std::string >	after_list_
	AFTER_ME
std::vector< std::string >	before_list_
	BEFORE_ME
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum pr2_controller_interface::Controller:: { ... }	state_

Static Public Attributes
static const double	WHEEL_OFFSET = 0.049
static const double	WHEEL_RADIUS = 0.079

Private Member Functions
void	setDriveCB (const std_msgs::Float64ConstPtr &msg)
void	setSteerCB (const std_msgs::Float64ConstPtr &msg)

Private Attributes
JointVelocityController	caster_vel_
ros::Subscriber	drive_cmd_
ros::NodeHandle	node_
ros::Subscriber	steer_cmd_
JointVelocityController	wheel_l_vel_
JointVelocityController	wheel_r_vel_

Detailed Description

Definition at line 69 of file caster_controller.h.

Constructor & Destructor Documentation

controller::CasterController::CasterController

(

)

Definition at line 44 of file caster_controller.cpp.

controller::CasterController::~CasterController

(

)

Definition at line 49 of file caster_controller.cpp.

Member Function Documentation

double controller::CasterController::getSteerPosition ( )

inline

Definition at line 89 of file caster_controller.h.

double controller::CasterController::getSteerVelocity ( )

inline

Definition at line 90 of file caster_controller.h.

bool controller::CasterController::init	(	pr2_mechanism_model::RobotState *	robot_state,
		const std::string &	caster_joint,
		const std::string &	wheel_l_joint,
		const std::string &	wheel_r_joint,
		const control_toolbox::Pid &	caster_pid,
		const control_toolbox::Pid &	wheel_pid
	)

Definition at line 53 of file caster_controller.cpp.

bool controller::CasterController::init ( pr2_mechanism_model::RobotState *  robot, ros::NodeHandle &  n  )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 76 of file caster_controller.cpp.

void controller::CasterController::setDriveCB ( const std_msgs::Float64ConstPtr &  msg )

private

Definition at line 159 of file caster_controller.cpp.

void controller::CasterController::setSteerCB ( const std_msgs::Float64ConstPtr &  msg )

private

Definition at line 154 of file caster_controller.cpp.

void controller::CasterController::update ( void  )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 140 of file caster_controller.cpp.

Member Data Documentation

pr2_mechanism_model::JointState* controller::CasterController::caster_

Definition at line 92 of file caster_controller.h.

JointVelocityController controller::CasterController::caster_vel_

private

Definition at line 96 of file caster_controller.h.

ros::Subscriber controller::CasterController::drive_cmd_

private

Definition at line 98 of file caster_controller.h.

double controller::CasterController::drive_velocity_

Definition at line 87 of file caster_controller.h.

ros::NodeHandle controller::CasterController::node_

private

Definition at line 95 of file caster_controller.h.

ros::Subscriber controller::CasterController::steer_cmd_

private

Definition at line 97 of file caster_controller.h.

double controller::CasterController::steer_velocity_

Definition at line 86 of file caster_controller.h.

JointVelocityController controller::CasterController::wheel_l_vel_

private

Definition at line 96 of file caster_controller.h.

const double controller::CasterController::WHEEL_OFFSET = 0.049

static

Definition at line 73 of file caster_controller.h.

JointVelocityController controller::CasterController::wheel_r_vel_

private

Definition at line 96 of file caster_controller.h.

const double controller::CasterController::WHEEL_RADIUS = 0.079

static

Definition at line 72 of file caster_controller.h.

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

• caster_controller.h
• caster_controller.cpp