towr::TowrUserInterface Class Reference

Translates user input into the ROS message TowrCommand.msg. More...

#include <towr_user_interface.h>

Public Member Functions
void	CallbackKey (int c)
	TowrUserInterface ()
	Constructs default object to interact with framework. More...
virtual	~TowrUserInterface ()=default

Private Member Functions
int	AdvanceCircularBuffer (int &curr, int max) const
void	PrintScreen () const
void	PrintVector (const Eigen::Vector3d &v) const
void	PrintVector2D (const Eigen::Vector2d &v) const
void	PublishCommand ()

Private Attributes
int	gait_combo_
xpp::State3dEuler	goal_geom_
bool	optimize_
bool	optimize_phase_durations_
bool	play_initialization_
bool	plot_trajectory_
bool	publish_optimized_trajectory_
double	replay_speed_
int	robot_
int	terrain_
double	total_duration_
::ros::Publisher	user_command_pub_
	the output message to TOWR. More...
bool	visualize_trajectory_

Detailed Description

Translates user input into the ROS message TowrCommand.msg.

This includes high level input about where to go (e.g. converting keyboard input into a goal state), which terrain to visualize, etc.

Definition at line 45 of file towr_user_interface.h.

Constructor & Destructor Documentation

towr::TowrUserInterface::TowrUserInterface

(

)

Constructs default object to interact with framework.

Definition at line 55 of file towr_user_interface.cc.

virtual towr::TowrUserInterface::~TowrUserInterface ( )

virtualdefault

Member Function Documentation

int towr::TowrUserInterface::AdvanceCircularBuffer ( int &  curr, int  max  ) const

private

Definition at line 323 of file towr_user_interface.cc.

void towr::TowrUserInterface::CallbackKey

(

int

c

)

Called whenever a keyboard key is pressed.

Parameters

c	Unicode character of that key (see ncurses library).

Definition at line 189 of file towr_user_interface.cc.

void towr::TowrUserInterface::PrintScreen ( ) const

private

Definition at line 85 of file towr_user_interface.cc.

void towr::TowrUserInterface::PrintVector ( const Eigen::Vector3d &  v ) const

private

Definition at line 329 of file towr_user_interface.cc.

void towr::TowrUserInterface::PrintVector2D ( const Eigen::Vector2d &  v ) const

private

Definition at line 335 of file towr_user_interface.cc.

void towr::TowrUserInterface::PublishCommand ( )

private

Definition at line 296 of file towr_user_interface.cc.

Member Data Documentation

int towr::TowrUserInterface::gait_combo_

private

Definition at line 67 of file towr_user_interface.h.

xpp::State3dEuler towr::TowrUserInterface::goal_geom_

private

Definition at line 65 of file towr_user_interface.h.

bool towr::TowrUserInterface::optimize_

private

Definition at line 73 of file towr_user_interface.h.

bool towr::TowrUserInterface::optimize_phase_durations_

private

Definition at line 76 of file towr_user_interface.h.

bool towr::TowrUserInterface::play_initialization_

private

Definition at line 70 of file towr_user_interface.h.

bool towr::TowrUserInterface::plot_trajectory_

private

Definition at line 72 of file towr_user_interface.h.

bool towr::TowrUserInterface::publish_optimized_trajectory_

private

Definition at line 74 of file towr_user_interface.h.

double towr::TowrUserInterface::replay_speed_

private

Definition at line 71 of file towr_user_interface.h.

int towr::TowrUserInterface::robot_

private

Definition at line 68 of file towr_user_interface.h.

int towr::TowrUserInterface::terrain_

private

Definition at line 66 of file towr_user_interface.h.

double towr::TowrUserInterface::total_duration_

private

Definition at line 75 of file towr_user_interface.h.

::ros::Publisher towr::TowrUserInterface::user_command_pub_

private

the output message to TOWR.

Definition at line 60 of file towr_user_interface.h.

bool towr::TowrUserInterface::visualize_trajectory_

private

Definition at line 69 of file towr_user_interface.h.

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

• towr_user_interface.h
• towr_user_interface.cc