#include <DbwNode.h>

Public Member Functions
	DbwNode (ros::NodeHandle &node, ros::NodeHandle &priv_nh)
	~DbwNode ()
Private Types
enum	{ JOINT_FL = 0, JOINT_FR, JOINT_RL, JOINT_RR, JOINT_SL, JOINT_SR, JOINT_COUNT }
Private Member Functions
void	buttonCancel ()
bool	clear ()
void	disableSystem ()
bool	enabled ()
void	enableSystem ()
bool	fault ()
void	faultBrakes (bool fault)
void	faultSteering (bool fault)
void	faultSteeringCal (bool fault)
void	faultThrottle (bool fault)
void	faultWatchdog (bool fault, uint8_t src, bool braking)
void	faultWatchdog (bool fault, uint8_t src=0)
bool	override ()
void	overrideBrake (bool override, bool timeout)
void	overrideGear (bool override)
void	overrideSteering (bool override, bool timeout)
void	overrideThrottle (bool override, bool timeout)
bool	publishDbwEnabled ()
void	publishJointStates (const ros::Time &stamp, const dbw_mkz_msgs::WheelSpeedReport wheels, const dbw_mkz_msgs::SteeringReport steering)
void	recvBrakeCmd (const dbw_mkz_msgs::BrakeCmd::ConstPtr &msg)
void	recvCAN (const can_msgs::Frame::ConstPtr &msg)
void	recvCanGps (const std::vector< can_msgs::Frame::ConstPtr > &msgs)
void	recvCanImu (const std::vector< can_msgs::Frame::ConstPtr > &msgs)
void	recvDisable (const std_msgs::Empty::ConstPtr &msg)
void	recvEnable (const std_msgs::Empty::ConstPtr &msg)
void	recvGearCmd (const dbw_mkz_msgs::GearCmd::ConstPtr &msg)
void	recvSteeringCmd (const dbw_mkz_msgs::SteeringCmd::ConstPtr &msg)
void	recvThrottleCmd (const dbw_mkz_msgs::ThrottleCmd::ConstPtr &msg)
void	recvTurnSignalCmd (const dbw_mkz_msgs::TurnSignalCmd::ConstPtr &msg)
float	speedSign () const
void	timeoutBrake (bool timeout, bool enabled)
void	timeoutSteering (bool timeout, bool enabled)
void	timeoutThrottle (bool timeout, bool enabled)
void	timerCallback (const ros::TimerEvent &event)
Static Private Member Functions
template<typename T >
static int	sgn (T val)
Private Attributes
double	acker_track_
double	acker_wheelbase_
bool	buttons_
std::string	date_
bool	enable_
bool	enabled_brakes_
bool	enabled_steering_
bool	enabled_throttle_
bool	fault_brakes_
bool	fault_steering_
bool	fault_steering_cal_
bool	fault_throttle_
bool	fault_watchdog_
bool	fault_watchdog_using_brakes_
bool	fault_watchdog_warned_
PlatformMap	firmware_
std::string	frame_id_
bool	gear_warned_
sensor_msgs::JointState	joint_state_
bool	override_brake_
bool	override_gear_
bool	override_steering_
bool	override_throttle_
bool	pedal_luts_
bool	prev_enable_
ros::Publisher	pub_brake_
ros::Publisher	pub_brake_info_
ros::Publisher	pub_can_
ros::Publisher	pub_driver_assist_
ros::Publisher	pub_fuel_level_
ros::Publisher	pub_gear_
ros::Publisher	pub_gps_fix_
ros::Publisher	pub_gps_time_
ros::Publisher	pub_gps_vel_
ros::Publisher	pub_imu_
ros::Publisher	pub_joint_states_
ros::Publisher	pub_misc_1_
ros::Publisher	pub_sonar_cloud_
ros::Publisher	pub_steering_
ros::Publisher	pub_surround_
ros::Publisher	pub_sys_enable_
ros::Publisher	pub_throttle_
ros::Publisher	pub_throttle_info_
ros::Publisher	pub_tire_pressure_
ros::Publisher	pub_twist_
ros::Publisher	pub_vin_
ros::Publisher	pub_wheel_positions_
ros::Publisher	pub_wheel_speeds_
double	steering_ratio_
ros::Subscriber	sub_brake_
ros::Subscriber	sub_can_
ros::Subscriber	sub_disable_
ros::Subscriber	sub_enable_
ros::Subscriber	sub_gear_
ros::Subscriber	sub_steering_
ros::Subscriber	sub_throttle_
ros::Subscriber	sub_turn_signal_
dataspeed_can_msg_filters::ApproximateTime	sync_gps_
dataspeed_can_msg_filters::ApproximateTime	sync_imu_
bool	timeout_brakes_
bool	timeout_steering_
bool	timeout_throttle_
ros::Timer	timer_
std::string	vin_
bool	warn_cmds_

Detailed Description

Definition at line 77 of file DbwNode.h.

Member Enumeration Documentation

anonymous enum [private]

Enumerator:

JOINT_FL
JOINT_FR
JOINT_RL
JOINT_RR
JOINT_SL
JOINT_SR
JOINT_COUNT

Definition at line 139 of file DbwNode.h.

Constructor & Destructor Documentation

dbw_mkz_can::DbwNode::DbwNode	(	ros::NodeHandle &	node,
		ros::NodeHandle &	priv_nh
	)

Definition at line 81 of file DbwNode.cpp.

dbw_mkz_can::DbwNode::~DbwNode ( )

Definition at line 191 of file DbwNode.cpp.

Member Function Documentation

void dbw_mkz_can::DbwNode::buttonCancel ( ) [private]

Definition at line 1144 of file DbwNode.cpp.

bool dbw_mkz_can::DbwNode::clear ( ) [inline, private]

Definition at line 119 of file DbwNode.h.

void dbw_mkz_can::DbwNode::disableSystem ( ) [private]

Definition at line 1135 of file DbwNode.cpp.

bool dbw_mkz_can::DbwNode::enabled ( ) [inline, private]

Definition at line 120 of file DbwNode.h.

void dbw_mkz_can::DbwNode::enableSystem ( ) [private]

Definition at line 1105 of file DbwNode.cpp.

bool dbw_mkz_can::DbwNode::fault ( ) [inline, private]

Definition at line 117 of file DbwNode.h.

void dbw_mkz_can::DbwNode::faultBrakes ( bool fault ) [private]

Definition at line 1253 of file DbwNode.cpp.

void dbw_mkz_can::DbwNode::faultSteering ( bool fault ) [private]

Definition at line 1285 of file DbwNode.cpp.

void dbw_mkz_can::DbwNode::faultSteeringCal ( bool fault ) [private]

Definition at line 1301 of file DbwNode.cpp.

void dbw_mkz_can::DbwNode::faultThrottle ( bool fault ) [private]

Definition at line 1269 of file DbwNode.cpp.

void dbw_mkz_can::DbwNode::faultWatchdog	(	bool	fault,
		uint8_t	src,
		bool	braking
	)		`[private]`

Definition at line 1317 of file DbwNode.cpp.

void dbw_mkz_can::DbwNode::faultWatchdog	(	bool	fault,
		uint8_t	src = `0`
	)		`[private]`

Definition at line 1394 of file DbwNode.cpp.

bool dbw_mkz_can::DbwNode::override ( ) [inline, private]

Definition at line 118 of file DbwNode.h.

void dbw_mkz_can::DbwNode::overrideBrake	(	bool	override,
		bool	timeout
	)		`[private]`

Definition at line 1153 of file DbwNode.cpp.

void dbw_mkz_can::DbwNode::overrideGear ( bool override ) [private]

Definition at line 1210 of file DbwNode.cpp.

void dbw_mkz_can::DbwNode::overrideSteering	(	bool	override,
		bool	timeout
	)		`[private]`

Definition at line 1191 of file DbwNode.cpp.

void dbw_mkz_can::DbwNode::overrideThrottle	(	bool	override,
		bool	timeout
	)		`[private]`

Definition at line 1172 of file DbwNode.cpp.

bool dbw_mkz_can::DbwNode::publishDbwEnabled ( ) [private]

Definition at line 1051 of file DbwNode.cpp.

void dbw_mkz_can::DbwNode::publishJointStates	(	const ros::Time &	stamp,
		const dbw_mkz_msgs::WheelSpeedReport *	wheels,
		const dbw_mkz_msgs::SteeringReport *	steering
	)		`[private]`