controller::BaseKinematics Class Reference

#include <base_kinematics.h>

List of all members.

Public Member Functions

void computeWheelPositions ()
 Computes 2d postion of every wheel relative to the center of the base.
bool init (pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node)
 Loads BaseKinematic's information from the xml description file and param server.
geometry_msgs::Twist pointVel2D (const geometry_msgs::Point &pos, const geometry_msgs::Twist &vel)
 Computes 2d velocity of a point at relative distance pos to another point with velocity (and rotation (z)) vel.

Public Attributes

std::vector< Castercaster_
 vector of every caster attached to the base
double MAX_DT_
 maximum dT used in computation of interpolated velocity command
std::string name_
 name of this BaseKinematics (generally associated with whatever controller is using it)
int num_casters_
 number of casters connected to the base
int num_wheels_
 number of wheels connected to the base
std::string robot_base_id_
 Name(string id) of the robot base frame.
pr2_mechanism_model::RobotState * robot_state_
 remembers everything about the state of the robot
std::vector< Wheelwheel_
 vector of every wheel attached to the base
std::string xml_caster_name_
 the name of the casters in the xml file
std::string xml_wheel_name_
 the name of the wheels in the xml file

Detailed Description

Definition at line 226 of file base_kinematics.h.


Member Function Documentation

void BaseKinematics::computeWheelPositions (  ) 

Computes 2d postion of every wheel relative to the center of the base.

Definition at line 206 of file base_kinematics.cpp.

bool BaseKinematics::init ( pr2_mechanism_model::RobotState *  robot_state,
ros::NodeHandle &  node 
)

Loads BaseKinematic's information from the xml description file and param server.

Parameters:
robot_state The robot's current state
config Tiny xml element pointing to its controller
Returns:
Successful init

Definition at line 144 of file base_kinematics.cpp.

geometry_msgs::Twist BaseKinematics::pointVel2D ( const geometry_msgs::Point &  pos,
const geometry_msgs::Twist &  vel 
)

Computes 2d velocity of a point at relative distance pos to another point with velocity (and rotation (z)) vel.

Parameters:
pos The position of the object relative to the center of rotation
vel Velocity of the center of rotation
Returns:
Velocity at the given point

Definition at line 215 of file base_kinematics.cpp.


Member Data Documentation

vector of every caster attached to the base

Definition at line 274 of file base_kinematics.h.

maximum dT used in computation of interpolated velocity command

Definition at line 294 of file base_kinematics.h.

name of this BaseKinematics (generally associated with whatever controller is using it)

Definition at line 289 of file base_kinematics.h.

number of casters connected to the base

Definition at line 264 of file base_kinematics.h.

number of wheels connected to the base

Definition at line 259 of file base_kinematics.h.

Name(string id) of the robot base frame.

Definition at line 299 of file base_kinematics.h.

pr2_mechanism_model::RobotState* controller::BaseKinematics::robot_state_

remembers everything about the state of the robot

Definition at line 254 of file base_kinematics.h.

vector of every wheel attached to the base

Definition at line 269 of file base_kinematics.h.

the name of the casters in the xml file

Definition at line 279 of file base_kinematics.h.

the name of the wheels in the xml file

Definition at line 284 of file base_kinematics.h.


The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Friends Defines


pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Fri Jan 11 09:39:08 2013