labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType > Class Template Reference

#include <HLControl.hpp>

List of all members.

Public Member Functions
	HLControl ()
void	onInit ()
Private Member Functions
void	onEstimate (const typename InputType::ConstPtr &estimate)
Private Attributes
ros::Publisher	refPub
ros::Subscriber	stateSub

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Detailed Description

template<class Controller, class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts>
class labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType >

The class contains the ROS template for high level controllers.

Todo:

Add windup type. Convert into template. EnablePolicy add service, topic option selection.

Definition at line 126 of file HLControl.hpp.

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Constructor & Destructor Documentation

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts>

labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType >::HLControl

(

)

[inline]

Main constructor

Definition at line 132 of file HLControl.hpp.

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Member Function Documentation

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts>

void labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType >::onEstimate

(

const typename InputType::ConstPtr &

estimate

)

[inline, private]

Definition at line 154 of file HLControl.hpp.

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts>

void labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType >::onInit

(

)

[inline]

Initialize and setup controller.

Definition at line 139 of file HLControl.hpp.

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Member Data Documentation

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts>

ros::Publisher labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType >::refPub [private]

The publisher of the TAU message.

Definition at line 167 of file HLControl.hpp.

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts>

ros::Subscriber labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType >::stateSub [private]

The subscribed topics.

Definition at line 171 of file HLControl.hpp.

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

• HLControl.hpp