Public Member Functions | Static Public Member Functions | Public Attributes
AGVSControllerClass Class Reference

List of all members.

Public Member Functions

 AGVSControllerClass (ros::NodeHandle h)
 Public constructor.
void check_command_subscriber (diagnostic_updater::DiagnosticStatusWrapper &stat)
void commandCallback (const ackermann_msgs::AckermannDriveStamped::ConstPtr &msg)
void imuCallback (const sensor_msgs::Imu &imu_msg)
void jointStateCallback (const sensor_msgs::JointStateConstPtr &msg)
void PublishOdometry ()
double saturation (double u, double min, double max)
void SetElevatorPosition (double val)
bool spin ()
bool srvCallback_LowerElevator (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
bool srvCallback_RaiseElevator (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
bool srvCallback_SetOdometry (robotnik_msgs::set_odometry::Request &request, robotnik_msgs::set_odometry::Response &response)
int starting ()
 Controller startup in realtime.
void stopping ()
 Controller stopping.
void UpdateControl ()
void UpdateOdometry ()
 Updates the values of the odometry Ackerman's odometry calculation (using motor speed and position of the motor direction)

Static Public Member Functions

static void radnorm (double *radians)
 Normalize in rad.
static double radnorm2 (double value)

Public Attributes

double a_ref_
double agvs_dist_to_center_
double agvs_wheel_diameter_
double ang_vel_x_
double ang_vel_y_
double ang_vel_z_
double angularSpeedRads_
ackermann_msgs::AckermannDriveStamped base_vel_msg_
int bwd_pos_
std::string bwd_pos_topic_
int bwd_vel_
std::string bwd_vel_topic_
ros::Subscriber cmd_sub_
diagnostic_updater::FunctionDiagnosticTask command_freq_
double desired_freq_
diagnostic_updater::Updater diagnostic_
std::string elevator_pos_topic_
diagnostic_updater::FrequencyStatus freq_diag_
int fwd_pos_
std::string fwd_pos_topic_
int fwd_vel_
std::string fwd_vel_topic_
ros::Subscriber imu_sub_
std::string imu_topic_
std::string joint_back_motor_wheel
std::string joint_back_wheel
std::string joint_front_motor_wheel
std::string joint_front_wheel
sensor_msgs::JointState joint_state_
ros::Subscriber joint_state_sub_
ros::Time last_command_time_
double lin_acc_x_
double lin_acc_y_
double lin_acc_z_
double linearSpeedXMps_
double linearSpeedYMps_
ros::NodeHandle node_handle_
tf::TransformBroadcaster odom_broadcaster
ros::Publisher odom_pub_
double orientation_diff_w_
double orientation_diff_x_
double orientation_diff_y_
double orientation_diff_z_
ros::NodeHandle private_node_handle_
bool publish_odom_tf_
bool read_state_
ros::Publisher ref_pos_bwd_
ros::Publisher ref_pos_elevator_
ros::Publisher ref_pos_fwd_
ros::Publisher ref_vel_bwd_
ros::Publisher ref_vel_fwd_
std::string robot_model_
double robot_pose_pa_
double robot_pose_px_
double robot_pose_py_
double robot_pose_vx_
double robot_pose_vy_
ros::ServiceServer srv_GetMode_
ros::ServiceServer srv_LowerElevator_
ros::ServiceServer srv_RaiseElevator_
ros::ServiceServer srv_SetMode_
ros::ServiceServer srv_SetOdometry_
diagnostic_updater::HeaderlessTopicDiagnosticsubs_command_freq
double v_mps_
double v_ref_

Detailed Description

Definition at line 68 of file agvs_robot_control.cpp.


Constructor & Destructor Documentation

Public constructor.

Definition at line 190 of file agvs_robot_control.cpp.


Member Function Documentation

Definition at line 501 of file agvs_robot_control.cpp.

void AGVSControllerClass::commandCallback ( const ackermann_msgs::AckermannDriveStamped::ConstPtr &  msg) [inline]

Definition at line 554 of file agvs_robot_control.cpp.

void AGVSControllerClass::imuCallback ( const sensor_msgs::Imu &  imu_msg) [inline]

Definition at line 567 of file agvs_robot_control.cpp.

void AGVSControllerClass::jointStateCallback ( const sensor_msgs::JointStateConstPtr &  msg) [inline]

Definition at line 547 of file agvs_robot_control.cpp.

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static void AGVSControllerClass::radnorm ( double *  radians) [inline, static]

Normalize in rad.

Definition at line 593 of file agvs_robot_control.cpp.

static double AGVSControllerClass::radnorm2 ( double  value) [inline, static]

Definition at line 603 of file agvs_robot_control.cpp.

double AGVSControllerClass::saturation ( double  u,
double  min,
double  max 
) [inline]

Definition at line 583 of file agvs_robot_control.cpp.

void AGVSControllerClass::SetElevatorPosition ( double  val) [inline]

Definition at line 484 of file agvs_robot_control.cpp.

bool AGVSControllerClass::spin ( ) [inline]

Definition at line 610 of file agvs_robot_control.cpp.

bool AGVSControllerClass::srvCallback_LowerElevator ( std_srvs::Empty::Request &  request,
std_srvs::Empty::Response &  response 
) [inline]

Definition at line 538 of file agvs_robot_control.cpp.

bool AGVSControllerClass::srvCallback_RaiseElevator ( std_srvs::Empty::Request &  request,
std_srvs::Empty::Response &  response 
) [inline]

Definition at line 529 of file agvs_robot_control.cpp.

bool AGVSControllerClass::srvCallback_SetOdometry ( robotnik_msgs::set_odometry::Request &  request,
robotnik_msgs::set_odometry::Response &  response 
) [inline]

Definition at line 517 of file agvs_robot_control.cpp.

Controller startup in realtime.

Definition at line 305 of file agvs_robot_control.cpp.

void AGVSControllerClass::stopping ( ) [inline]

Controller stopping.

Definition at line 494 of file agvs_robot_control.cpp.

Definition at line 447 of file agvs_robot_control.cpp.

Updates the values of the odometry Ackerman's odometry calculation (using motor speed and position of the motor direction)

Definition at line 330 of file agvs_robot_control.cpp.


Member Data Documentation

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ackermann_msgs::AckermannDriveStamped AGVSControllerClass::base_vel_msg_

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sensor_msgs::JointState AGVSControllerClass::joint_state_

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


agvs_robot_control
Author(s): Roberto Guzmán
autogenerated on Thu Aug 27 2015 12:08:25