asctec::AsctecProc Class Reference

#include <asctec_proc.h>

Public Member Functions
	AsctecProc (ros::NodeHandle nh, ros::NodeHandle nh_private)
virtual	~AsctecProc ()
Private Member Functions
void	assembleCtrlCommands ()
void	cmdPitchCallback (const std_msgs::Float64ConstPtr &cmd_pitch_msg)
void	cmdRollCallback (const std_msgs::Float64ConstPtr &cmd_roll_msg)
void	cmdThrustCallback (const std_msgs::Float64ConstPtr &cmd_thrust_msg)
void	cmdYawCallback (const std_msgs::Float64ConstPtr &cmd_yaw_rate_msg)
void	createHeightFilteredMsg (const asctec_msgs::IMUCalcDataConstPtr &imu_calcdata_msg, mav_msgs::HeightPtr &height_filtered_msg)
void	createHeightMsg (const asctec_msgs::IMUCalcDataConstPtr &imu_calcdata_msg, mav_msgs::HeightPtr &height_msg)
void	createImuMsg (const asctec_msgs::IMUCalcDataConstPtr &imu_calcdata_msg, sensor_msgs::ImuPtr &imu_msg)
bool	getMotorsOnOff (mav_msgs::GetMotorsOnOff::Request &req, mav_msgs::GetMotorsOnOff::Response &res)
void	imuCalcDataCallback (const asctec_msgs::IMUCalcDataConstPtr &imu_calcdata_msg)
void	initializeParams ()
void	llStatusCallback (const asctec_msgs::LLStatusPtr &ll_status_msg)
void	publishCtrlInputMsg ()
bool	setMotorsOnOff (mav_msgs::SetMotorsOnOff::Request &req, mav_msgs::SetMotorsOnOff::Response &res)
void	startMotors ()
void	stopMotors ()
Private Attributes
ros::Subscriber	cmd_pitch_subscriber_
ros::Subscriber	cmd_roll_subscriber_
ros::Subscriber	cmd_thrust_subscriber_
ros::Subscriber	cmd_yaw_subscriber_
ros::Publisher	ctrl_input_publisher_
asctec_msgs::CtrlInputPtr	ctrl_input_toggle_msg_
asctec_msgs::CtrlInputPtr	ctrl_input_zero_msg_
int	ctrl_pitch_
int	ctrl_roll_
int	ctrl_thrust_
int	ctrl_yaw_
bool	enable_ctrl_pitch_
bool	enable_ctrl_roll_
bool	enable_ctrl_thrust_
bool	enable_ctrl_yaw_
bool	enable_state_changes_
bool	engaging_
ros::Subscriber	estop_subscriber_
ros::ServiceServer	get_motors_on_off_srv_
ros::Publisher	height_filtered_publisher_
ros::Publisher	height_publisher_
ros::Subscriber	imu_calcdata_subscriber_
ros::Publisher	imu_publisher_
ros::Subscriber	ll_status_subscriber_
int	max_ctrl_pitch_
int	max_ctrl_roll_
int	max_ctrl_thrust_
int	max_ctrl_yaw_
bool	motors_on_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
ros::ServiceServer	set_motors_on_off_srv_
boost::mutex	state_mutex_
ros::Subscriber	state_subscriber_

Detailed Description

Definition at line 39 of file asctec_proc.h.

Constructor & Destructor Documentation

asctec::AsctecProc::AsctecProc	(	ros::NodeHandle	nh,
		ros::NodeHandle	nh_private
	)

Definition at line 27 of file asctec_proc.cpp.

asctec::AsctecProc::~AsctecProc ( ) [virtual]

Definition at line 103 of file asctec_proc.cpp.

Member Function Documentation

void asctec::AsctecProc::assembleCtrlCommands ( ) [private]

Definition at line 447 of file asctec_proc.cpp.

void asctec::AsctecProc::cmdPitchCallback ( const std_msgs::Float64ConstPtr & cmd_pitch_msg ) [private]

Definition at line 202 of file asctec_proc.cpp.

void asctec::AsctecProc::cmdRollCallback ( const std_msgs::Float64ConstPtr & cmd_roll_msg ) [private]

Definition at line 174 of file asctec_proc.cpp.

void asctec::AsctecProc::cmdThrustCallback ( const std_msgs::Float64ConstPtr & cmd_thrust_msg ) [private]

Definition at line 258 of file asctec_proc.cpp.

void asctec::AsctecProc::cmdYawCallback ( const std_msgs::Float64ConstPtr & cmd_yaw_rate_msg ) [private]

Definition at line 230 of file asctec_proc.cpp.

void asctec::AsctecProc::createHeightFilteredMsg	(	const asctec_msgs::IMUCalcDataConstPtr &	imu_calcdata_msg,
		mav_msgs::HeightPtr &	height_filtered_msg
	)			`[private]`