hector_quadrotor_controller::MotorController Class Reference

Inheritance diagram for hector_quadrotor_controller::MotorController:

List of all members.

Public Member Functions
bool	init (QuadrotorInterface *interface, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
	MotorController ()
void	reset ()
void	starting (const ros::Time &time)
void	stopping (const ros::Time &time)
void	update (const ros::Time &time, const ros::Duration &period)
void	wrenchCommandCallback (const geometry_msgs::WrenchStampedConstPtr &command)
	~MotorController ()
Private Attributes
std::string	base_link_frame_
ros::ServiceServer	engage_service_server_
hector_uav_msgs::MotorCommand	motor_
MotorCommandHandlePtr	motor_output_
ros::NodeHandle *	node_handle_
struct {
double   force_per_voltage
double   lever
double   torque_per_voltage
}	parameters_
ros::ServiceServer	shutdown_service_server_
geometry_msgs::WrenchStamped	wrench_
WrenchCommandHandlePtr	wrench_input_
ros::Subscriber	wrench_subscriber_

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Detailed Description

Definition at line 42 of file motor_controller.cpp.

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Constructor & Destructor Documentation

hector_quadrotor_controller::MotorController::MotorController

(

)

[inline]

Definition at line 45 of file motor_controller.cpp.

hector_quadrotor_controller::MotorController::~MotorController

(

)

[inline]

Definition at line 49 of file motor_controller.cpp.

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Member Function Documentation

bool hector_quadrotor_controller::MotorController::init	(	QuadrotorInterface *	interface,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)		[inline]

Definition at line 58 of file motor_controller.cpp.

void hector_quadrotor_controller::MotorController::reset

(

)

[inline]

Definition at line 86 of file motor_controller.cpp.

void hector_quadrotor_controller::MotorController::starting

(

const ros::Time &

time

)

[inline, virtual]

Reimplemented from controller_interface::ControllerBase.

Definition at line 110 of file motor_controller.cpp.

void hector_quadrotor_controller::MotorController::stopping

(

const ros::Time &

time

)

[inline, virtual]

Reimplemented from controller_interface::ControllerBase.

Definition at line 116 of file motor_controller.cpp.

void hector_quadrotor_controller::MotorController::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)		[inline, virtual]

Implements controller_interface::ControllerBase.

Definition at line 121 of file motor_controller.cpp.

void hector_quadrotor_controller::MotorController::wrenchCommandCallback

(

const geometry_msgs::WrenchStampedConstPtr &

command

)

[inline]

Definition at line 101 of file motor_controller.cpp.

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Member Data Documentation

std::string hector_quadrotor_controller::MotorController::base_link_frame_ [private]

Definition at line 174 of file motor_controller.cpp.

ros::ServiceServer hector_quadrotor_controller::MotorController::engage_service_server_ [private]

Definition at line 169 of file motor_controller.cpp.

double hector_quadrotor_controller::MotorController::force_per_voltage

Definition at line 177 of file motor_controller.cpp.

double hector_quadrotor_controller::MotorController::lever

Definition at line 179 of file motor_controller.cpp.

hector_uav_msgs::MotorCommand hector_quadrotor_controller::MotorController::motor_ [private]

Definition at line 173 of file motor_controller.cpp.

MotorCommandHandlePtr hector_quadrotor_controller::MotorController::motor_output_ [private]

Definition at line 165 of file motor_controller.cpp.

ros::NodeHandle* hector_quadrotor_controller::MotorController::node_handle_ [private]

Definition at line 167 of file motor_controller.cpp.

struct { ... } hector_quadrotor_controller::MotorController::parameters_ [private]

ros::ServiceServer hector_quadrotor_controller::MotorController::shutdown_service_server_ [private]

Definition at line 170 of file motor_controller.cpp.

double hector_quadrotor_controller::MotorController::torque_per_voltage

Definition at line 178 of file motor_controller.cpp.

geometry_msgs::WrenchStamped hector_quadrotor_controller::MotorController::wrench_ [private]

Definition at line 172 of file motor_controller.cpp.

WrenchCommandHandlePtr hector_quadrotor_controller::MotorController::wrench_input_ [private]

Definition at line 164 of file motor_controller.cpp.

ros::Subscriber hector_quadrotor_controller::MotorController::wrench_subscriber_ [private]

Definition at line 168 of file motor_controller.cpp.

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

• motor_controller.cpp