hector_quadrotor_controller::TwistController Class Reference

Inheritance diagram for hector_quadrotor_controller::TwistController:

List of all members.

Public Member Functions
void	cmd_velCommandCallback (const geometry_msgs::TwistConstPtr &command)
bool	engageCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	init (QuadrotorInterface *interface, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
void	reset ()
bool	shutdownCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	starting (const ros::Time &time)
void	stopping (const ros::Time &time)
void	twistCommandCallback (const geometry_msgs::TwistStampedConstPtr &command)
	TwistController ()
void	update (const ros::Time &time, const ros::Duration &period)
	~TwistController ()
Private Attributes
AccelerationHandlePtr	acceleration_
bool	auto_engage_
std::string	base_link_frame_
ros::Subscriber	cmd_vel_subscriber_
geometry_msgs::TwistStamped	command_
bool	command_given_in_stabilized_frame_
boost::mutex	command_mutex_
ros::ServiceServer	engage_service_server_
double	inertia_ [3]
geometry_msgs::Wrench	limits_
double	linear_z_control_error_
double	load_factor_limit
double	mass_
bool	motors_running_
ros::NodeHandle	node_handle_
struct {
struct {
PID   x
PID   y
PID   z
}   angular
struct {
PID   x
PID   y
PID   z
}   linear
}	pid_
PoseHandlePtr	pose_
ros::ServiceServer	shutdown_service_server_
TwistHandlePtr	twist_
TwistCommandHandlePtr	twist_input_
ros::Subscriber	twist_subscriber_
geometry_msgs::WrenchStamped	wrench_
WrenchCommandHandlePtr	wrench_output_

---

Detailed Description

Definition at line 49 of file twist_controller.cpp.

---

Constructor & Destructor Documentation

hector_quadrotor_controller::TwistController::TwistController

(

)

[inline]

Definition at line 52 of file twist_controller.cpp.

hector_quadrotor_controller::TwistController::~TwistController

(

)

[inline]

Definition at line 55 of file twist_controller.cpp.

---

Member Function Documentation

void hector_quadrotor_controller::TwistController::cmd_velCommandCallback

(

const geometry_msgs::TwistConstPtr &

command

)

[inline]

Definition at line 133 of file twist_controller.cpp.

bool hector_quadrotor_controller::TwistController::engageCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)		[inline]

Definition at line 145 of file twist_controller.cpp.

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

Definition at line 58 of file twist_controller.cpp.

void hector_quadrotor_controller::TwistController::reset

(

)

[inline]

Definition at line 101 of file twist_controller.cpp.

bool hector_quadrotor_controller::TwistController::shutdownCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)		[inline]

Definition at line 154 of file twist_controller.cpp.

void hector_quadrotor_controller::TwistController::starting

(

const ros::Time &

time

)

[inline, virtual]

Reimplemented from controller_interface::ControllerBase.

Definition at line 163 of file twist_controller.cpp.

void hector_quadrotor_controller::TwistController::stopping

(

const ros::Time &

time

)

[inline, virtual]

Reimplemented from controller_interface::ControllerBase.

Definition at line 169 of file twist_controller.cpp.

void hector_quadrotor_controller::TwistController::twistCommandCallback

(

const geometry_msgs::TwistStampedConstPtr &

command

)

[inline]

Definition at line 121 of file twist_controller.cpp.

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

Implements controller_interface::ControllerBase.

Definition at line 174 of file twist_controller.cpp.

---

Member Data Documentation

AccelerationHandlePtr hector_quadrotor_controller::TwistController::acceleration_ [private]

Definition at line 290 of file twist_controller.cpp.

struct { ... } hector_quadrotor_controller::TwistController::angular

bool hector_quadrotor_controller::TwistController::auto_engage_ [private]

Definition at line 314 of file twist_controller.cpp.

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

Definition at line 303 of file twist_controller.cpp.

ros::Subscriber hector_quadrotor_controller::TwistController::cmd_vel_subscriber_ [private]

Definition at line 296 of file twist_controller.cpp.

geometry_msgs::TwistStamped hector_quadrotor_controller::TwistController::command_ [private]

Definition at line 300 of file twist_controller.cpp.

bool hector_quadrotor_controller::TwistController::command_given_in_stabilized_frame_ [private]

Definition at line 302 of file twist_controller.cpp.

boost::mutex hector_quadrotor_controller::TwistController::command_mutex_ [private]

Definition at line 321 of file twist_controller.cpp.

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

Definition at line 297 of file twist_controller.cpp.

double hector_quadrotor_controller::TwistController::inertia_[3] [private]

Definition at line 317 of file twist_controller.cpp.

geometry_msgs::Wrench hector_quadrotor_controller::TwistController::limits_ [private]

Definition at line 313 of file twist_controller.cpp.

struct { ... } hector_quadrotor_controller::TwistController::linear

double hector_quadrotor_controller::TwistController::linear_z_control_error_ [private]

Definition at line 320 of file twist_controller.cpp.

double hector_quadrotor_controller::TwistController::load_factor_limit [private]

Definition at line 315 of file twist_controller.cpp.

double hector_quadrotor_controller::TwistController::mass_ [private]

Definition at line 316 of file twist_controller.cpp.

bool hector_quadrotor_controller::TwistController::motors_running_ [private]

Definition at line 319 of file twist_controller.cpp.

ros::NodeHandle hector_quadrotor_controller::TwistController::node_handle_ [private]

Definition at line 294 of file twist_controller.cpp.

struct { ... } hector_quadrotor_controller::TwistController::pid_ [private]

PoseHandlePtr hector_quadrotor_controller::TwistController::pose_ [private]

Definition at line 288 of file twist_controller.cpp.

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

Definition at line 298 of file twist_controller.cpp.

TwistHandlePtr hector_quadrotor_controller::TwistController::twist_ [private]

Definition at line 289 of file twist_controller.cpp.

TwistCommandHandlePtr hector_quadrotor_controller::TwistController::twist_input_ [private]

Definition at line 291 of file twist_controller.cpp.

ros::Subscriber hector_quadrotor_controller::TwistController::twist_subscriber_ [private]

Definition at line 295 of file twist_controller.cpp.

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

Definition at line 301 of file twist_controller.cpp.

WrenchCommandHandlePtr hector_quadrotor_controller::TwistController::wrench_output_ [private]

Definition at line 292 of file twist_controller.cpp.

PID hector_quadrotor_controller::TwistController::x

Definition at line 307 of file twist_controller.cpp.

PID hector_quadrotor_controller::TwistController::y

Definition at line 308 of file twist_controller.cpp.

PID hector_quadrotor_controller::TwistController::z

Definition at line 309 of file twist_controller.cpp.

---

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

• twist_controller.cpp