labust::control::HLExecControl Class Reference

#include <HLExecControl.hpp>

List of all members.

Public Member Functions
	HLExecControl ()
void	onInit ()
Private Member Functions
void	onControllerSelect (const std_msgs::String::ConstPtr &name)
void	onNuIn (const auv_msgs::BodyVelocityReq::ConstPtr &nu)
bool	onRegReq (labust_uvapp::RegisterController::Request &req, labust_uvapp::RegisterController::Response &resp)
Private Attributes
boost::array< std::string, 6 >	active_dofs
ros::Subscriber	cntSel
std::map< std::string, labust_uvapp::ControllerInfo >	controllers
std::map< std::string, auv_msgs::BodyVelocityReq >	desired
ros::Subscriber	nuIn
ros::Publisher	nuRef
ros::ServiceServer	registerServer

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Detailed Description

Definition at line 51 of file HLExecControl.hpp.

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Constructor & Destructor Documentation

HLExecControl::HLExecControl

(

)

Definition at line 41 of file HLExecControl.cpp.

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Member Function Documentation

void HLExecControl::onControllerSelect

(

const std_msgs::String::ConstPtr &

name

)

[private]

Controller select method.

Definition at line 73 of file HLExecControl.cpp.

void HLExecControl::onInit

(

)

Definition at line 43 of file HLExecControl.cpp.

void HLExecControl::onNuIn

(

const auv_msgs::BodyVelocityReq::ConstPtr &

nu

)

[private]

The desired body velocities from the controller.

Definition at line 132 of file HLExecControl.cpp.

bool HLExecControl::onRegReq	(	labust_uvapp::RegisterController::Request &	req,
		labust_uvapp::RegisterController::Response &	resp
	)		[private]

The controller registration handler.

Definition at line 59 of file HLExecControl.cpp.

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Member Data Documentation

boost::array<std::string,6> labust::control::HLExecControl::active_dofs [private]

The active controllers on nu.

Definition at line 96 of file HLExecControl.hpp.

ros::Subscriber labust::control::HLExecControl::cntSel [private]

Definition at line 80 of file HLExecControl.hpp.

std::map<std::string, labust_uvapp::ControllerInfo> labust::control::HLExecControl::controllers [private]

The registered controller map.

Definition at line 88 of file HLExecControl.hpp.

std::map<std::string, auv_msgs::BodyVelocityReq> labust::control::HLExecControl::desired [private]

The received controller nu.

Definition at line 92 of file HLExecControl.hpp.

ros::Subscriber labust::control::HLExecControl::nuIn [private]

The desired speed subscriber.

Definition at line 80 of file HLExecControl.hpp.

ros::Publisher labust::control::HLExecControl::nuRef [private]

The merged speed reference.

Definition at line 84 of file HLExecControl.hpp.

ros::ServiceServer labust::control::HLExecControl::registerServer [private]

Mode selector service server.

Definition at line 76 of file HLExecControl.hpp.

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

• HLExecControl.hpp
• HLExecControl.cpp