Turtlebot3 Class Reference

Inheritance diagram for Turtlebot3:

Public Member Functions
void	controlTB3 (const float wheel_separation, double lin_vel, double ang_vel)
void	getJoints (physics::ModelPtr model)
double	getLeftJointPosition ()
void	getModel (physics::ModelPtr model)
double	getRightJointPosition ()
void	getSensors (physics::ModelPtr model)
void	initWheel ()
bool	isTurtlebot3Model (sdf::ElementPtr sdf)
virtual void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
void	OnUpdate (const common::UpdateInfo &)
void	showMsg ()
	Turtlebot3 ()
void	writePIDparamForJointControl (double p, double i, double d)
void	writeVelocityToJoint (double right_wheel_vel, double left_wheel_vel)
virtual	~Turtlebot3 ()

Private Attributes
physics::JointPtr	left_wheel_joint_
physics::ModelPtr	model_
common::PID	pid_
physics::JointPtr	right_wheel_joint_
event::ConnectionPtr	updateConnection_
double	wheel_separation_

Detailed Description

Definition at line 84 of file turtlebot3.cc.

Constructor & Destructor Documentation

Turtlebot3::Turtlebot3 ( )

inline

Definition at line 99 of file turtlebot3.cc.

virtual Turtlebot3::~Turtlebot3 ( )

inlinevirtual

Definition at line 100 of file turtlebot3.cc.

Member Function Documentation

void Turtlebot3::controlTB3 ( const float  wheel_separation, double  lin_vel, double  ang_vel  )

inline

Definition at line 212 of file turtlebot3.cc.

void Turtlebot3::getJoints ( physics::ModelPtr  model )

inline

Definition at line 125 of file turtlebot3.cc.

double Turtlebot3::getLeftJointPosition ( )

inline

Definition at line 235 of file turtlebot3.cc.

void Turtlebot3::getModel ( physics::ModelPtr  model )

inline

Definition at line 122 of file turtlebot3.cc.

double Turtlebot3::getRightJointPosition ( )

inline

Definition at line 241 of file turtlebot3.cc.

void Turtlebot3::getSensors ( physics::ModelPtr  model )

inline

Definition at line 135 of file turtlebot3.cc.

void Turtlebot3::initWheel ( )

inline

Definition at line 191 of file turtlebot3.cc.

bool Turtlebot3::isTurtlebot3Model ( sdf::ElementPtr  sdf )

inline

Definition at line 148 of file turtlebot3.cc.

virtual void Turtlebot3::Load ( physics::ModelPtr  _model, sdf::ElementPtr  _sdf  )

inlinevirtual

Definition at line 103 of file turtlebot3.cc.

void Turtlebot3::OnUpdate ( const common::UpdateInfo &  )

inline

Definition at line 247 of file turtlebot3.cc.

void Turtlebot3::showMsg ( )

inline

Definition at line 199 of file turtlebot3.cc.

void Turtlebot3::writePIDparamForJointControl ( double  p, double  i, double  d  )

inline

Definition at line 182 of file turtlebot3.cc.

void Turtlebot3::writeVelocityToJoint ( double  right_wheel_vel, double  left_wheel_vel  )

inline

Definition at line 228 of file turtlebot3.cc.

Member Data Documentation

physics::JointPtr Turtlebot3::left_wheel_joint_

private

Definition at line 89 of file turtlebot3.cc.

physics::ModelPtr Turtlebot3::model_

private

Definition at line 87 of file turtlebot3.cc.

common::PID Turtlebot3::pid_

private

Definition at line 94 of file turtlebot3.cc.

physics::JointPtr Turtlebot3::right_wheel_joint_

private

Definition at line 90 of file turtlebot3.cc.

event::ConnectionPtr Turtlebot3::updateConnection_

private

Definition at line 96 of file turtlebot3.cc.

double Turtlebot3::wheel_separation_

private

Definition at line 92 of file turtlebot3.cc.

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

• turtlebot3.cc