control_multi_plugin.cpp
/tmp/ws/src/cob_control/cob_omni_drive_controller/src/
control__multi__plugin_8cpp
GeomController.h
WheelControllerBase.h
cob_omni_drive_controller::GeomMultiController
cob_omni_drive_controller::WheelMultiController
cob_omni_drive_controller
control_plugin.cpp
/tmp/ws/src/cob_control/cob_omni_drive_controller/src/
control__plugin_8cpp
GeomController.h
WheelControllerBase.h
cob_omni_drive_controller::WheelController::PosCtrl
cob_omni_drive_controller::WheelController
cob_omni_drive_controller
GeomController.h
/tmp/ws/src/cob_control/cob_omni_drive_controller/src/
GeomController_8h
cob_omni_drive_controller/UndercarriageCtrlGeomROS.h
cob_omni_drive_controller::GeomController
cob_omni_drive_controller::GeomControllerBase
cob_omni_drive_controller
odom_plugin.cpp
/tmp/ws/src/cob_control/cob_omni_drive_controller/src/
odom__plugin_8cpp
cob_omni_drive_controller/UndercarriageCtrlGeom.h
GeomController.h
cob_omni_drive_controller::OdometryController
cob_omni_drive_controller
param_parser.cpp
/tmp/ws/src/cob_control/cob_omni_drive_controller/src/
param__parser_8cpp
cob_omni_drive_controller/param_parser.h
cob_omni_drive_controller/UndercarriageCtrlGeomROS.h
MergedXmlRpcStruct
cob_omni_drive_controller
bool
make_wheel_struct
param__parser_8cpp.html
a635eaf0bdfafa842e77325ede4706aa6
(XmlRpc::XmlRpcValue &wheel_list)
bool
parseCtrlParams
param__parser_8cpp.html
a8ec69a523ffb118e7398ee0bb77f368b
(CtrlParams ¶ms, XmlRpc::XmlRpcValue &wheel, urdf::Model *model)
bool
parsePosCtrlParams
param__parser_8cpp.html
a30af5fd37233d7b77108a32c0450ec49
(PosCtrlParams ¶ms, XmlRpc::XmlRpcValue &wheel)
bool
parseWheel
param__parser_8cpp.html
aaa8b563cd43ca9e85ffb9c080d62f93d
(W ¶ms, XmlRpc::XmlRpcValue &wheel, MergedXmlRpcStruct &merged, urdf::Model *model)
bool
parseWheel
param__parser_8cpp.html
a8c7c217ae455b3830b719393911feef9
(UndercarriageGeom::WheelParams ¶ms, XmlRpc::XmlRpcValue &wheel, MergedXmlRpcStruct &merged, urdf::Model *model)
bool
parseWheel
param__parser_8cpp.html
a6adacd98a764c53e21c88f500ebadb9c
(UndercarriageDirectCtrl::WheelParams ¶ms, XmlRpc::XmlRpcValue &wheel, MergedXmlRpcStruct &merged, urdf::Model *model)
bool
parseWheel
param__parser_8cpp.html
af9f33678093aee64b4c539d33929a576
(UndercarriageCtrl::WheelParams ¶ms, XmlRpc::XmlRpcValue &wheel, MergedXmlRpcStruct &merged, urdf::Model *model)
bool
parseWheelGeom
param__parser_8cpp.html
aabc282ee7220c01c5562afda9b050e4a
(WheelGeom &geom, XmlRpc::XmlRpcValue &wheel, MergedXmlRpcStruct &merged, urdf::Model *model)
bool
parseWheelParams
namespacecob__omni__drive__controller.html
afeaa0b3a793b233ee17e69485687351d
(std::vector< UndercarriageGeom::WheelParams > ¶ms, const ros::NodeHandle &nh, bool read_urdf=true)
bool
parseWheelParams
namespacecob__omni__drive__controller.html
afa9512fa4081991ee4b64455ff983cae
(std::vector< UndercarriageDirectCtrl::WheelParams > ¶ms, const ros::NodeHandle &nh, bool read_urdf=true)
bool
parseWheelParams
namespacecob__omni__drive__controller.html
ac02aacfab9a9f6d759dc1c7b9b6f278d
(std::vector< UndercarriageCtrl::WheelParams > ¶ms, const ros::NodeHandle &nh, bool read_urdf=true)
bool
parseWheels
param__parser_8cpp.html
aa5880c796901523070847bcb89a2369a
(std::vector< W > &wheel_params, const ros::NodeHandle &nh, bool read_urdf)
bool
read
param__parser_8cpp.html
a7e76b1d1f072af01eee7c60e1db9a952
(T &val, const std::string &name, XmlRpc::XmlRpcValue &wheel)
bool
read_optional
param__parser_8cpp.html
a4c2c9890d370ca195c35293075e4cec3
(T &val, const std::string &name, XmlRpc::XmlRpcValue &wheel)
T
read_typed
param__parser_8cpp.html
aacd4a4c18187917bb89c8396ca4c89c0
(XmlRpc::XmlRpcValue &val)
double
read_typed
param__parser_8cpp.html
a2fe5bb6f5ca0534057b534a905a5267f
(XmlRpc::XmlRpcValue &val)
bool
read_with_default
param__parser_8cpp.html
ade036a359d88bb2e1aafe4e909fa7da6
(T &val, const std::string &name, XmlRpc::XmlRpcValue &wheel, const T &def)
param_parser.h
/tmp/ws/src/cob_control/cob_omni_drive_controller/include/cob_omni_drive_controller/
param__parser_8h
bool
parseWheelTransform
param__parser_8h.html
a8b6fa02dbad53e9fb1be5a1bbe7de53a
(const std::string &joint_name, const std::string &parent_link_name, tf2::Transform &transform, urdf::Model *model)
UndercarriageCtrlGeom.cpp
/tmp/ws/src/cob_control/cob_omni_drive_controller/src/
UndercarriageCtrlGeom_8cpp
cob_omni_drive_controller/UndercarriageCtrlGeom.h
MathSup
double
atan4quad
namespaceMathSup.html
afdbf5cfa154f41ed72f17d4516551d60
(double y, double x)
double
getWeightedDelta
UndercarriageCtrlGeom_8cpp.html
abd2dd1e2b99f10d956c2948d425666ac
(double current_position, double old_target, double new_target)
double
limitValue
UndercarriageCtrlGeom_8cpp.html
a3622e37f99ae7ebd2490df53f3c701d5
(double value, double limit)
void
normalizePi
namespaceMathSup.html
a38b92acb90f3fa70b91140acddad4ab4
(double &val)
const double
PI
namespaceMathSup.html
a7cf618d446d59c0b71f2324e2d146eea
UndercarriageCtrlGeom.h
/tmp/ws/src/cob_control/cob_omni_drive_controller/include/cob_omni_drive_controller/
UndercarriageCtrlGeom_8h
CtrlData
CtrlParams
PlatformState
PosCtrlData
PosCtrlParams
UndercarriageCtrl
UndercarriageCtrlBase
UndercarriageDirectCtrl
UndercarriageGeom
UndercarriageGeomBase
WheelCommand
WheelCtrlParams
WheelCtrlPosParams
WheelData
WheelGeom
UndercarriageGeom::WheelParams
WheelState
double
limitValue
UndercarriageCtrlGeom_8h.html
a3622e37f99ae7ebd2490df53f3c701d5
(double value, double limit)
UndercarriageCtrlGeomROS.h
/tmp/ws/src/cob_control/cob_omni_drive_controller/include/cob_omni_drive_controller/
UndercarriageCtrlGeomROS_8h
cob_omni_drive_controller/UndercarriageCtrlGeom.h
cob_omni_drive_controller
bool
parseWheelParams
namespacecob__omni__drive__controller.html
afeaa0b3a793b233ee17e69485687351d
(std::vector< UndercarriageGeom::WheelParams > ¶ms, const ros::NodeHandle &nh, bool read_urdf=true)
bool
parseWheelParams
namespacecob__omni__drive__controller.html
afa9512fa4081991ee4b64455ff983cae
(std::vector< UndercarriageDirectCtrl::WheelParams > ¶ms, const ros::NodeHandle &nh, bool read_urdf=true)
bool
parseWheelParams
namespacecob__omni__drive__controller.html
ac02aacfab9a9f6d759dc1c7b9b6f278d
(std::vector< UndercarriageCtrl::WheelParams > ¶ms, const ros::NodeHandle &nh, bool read_urdf=true)
WheelControllerBase.h
/tmp/ws/src/cob_control/cob_omni_drive_controller/src/
WheelControllerBase_8h
cob_omni_drive_controller/UndercarriageCtrlGeom.h
cob_omni_drive_controller::WheelControllerBase::Target
cob_omni_drive_controller::WheelControllerBase
cob_omni_drive_controller
CtrlData
structCtrlData.html
WheelData
virtual void
calcControlStep
structCtrlData.html
a0ac38d47b700426cd0780c85d2afacb3
(WheelCommand &command, double dCmdRateS, bool reset)
CtrlData
structCtrlData.html
aabc80a7a406a87211ee0b481bffd3591
(const P ¶ms)
virtual void
reset
structCtrlData.html
ac378bdb991c04694f5d9c7bf0c57a369
()
void
setTarget
structCtrlData.html
a1ec43b0167d3f189714bebd64debc336
(const PlatformState &state)
double
m_dAngGearSteerTargetRad
structCtrlData.html
afa9deb7094d95f0c9a3d29c8ac9668ed
double
m_dVelGearDriveTargetRadS
structCtrlData.html
af8961f37215d47f4641be93cd19f04cb
CtrlParams
params_
structCtrlData.html
a49dcd8693bf8e7cee07da5aea6d335f7
CtrlParams
structCtrlParams.html
double
dMaxDriveRateRadpS
structCtrlParams.html
a140f33156beaa93164d2451c6793ad5a
double
dMaxSteerRateRadpS
structCtrlParams.html
a73987204b4a4bb87da9419a5a89c2442
double
dWheelNeutralPos
structCtrlParams.html
a3693a2776624d6f68bd9a9c9ae0636f3
cob_omni_drive_controller::GeomController
classcob__omni__drive__controller_1_1GeomController.html
Interface
Controller
GeomControllerBase< Interface::ResourceHandleType, Controller >
Controller< Interface >
std::vector< typename Controller::WheelParams >
wheel_params_t
classcob__omni__drive__controller_1_1GeomController.html
ac1476a3daab38ab501f9801c54e29e45
bool
init
classcob__omni__drive__controller_1_1GeomController.html
aaa1c897741cfdbb9ccaacd729dbb1e9d
(Interface *hw, ros::NodeHandle &controller_nh)
bool
init
classcob__omni__drive__controller_1_1GeomController.html
a641c4404b9737e2596a8d1268d8f8132
(Interface *hw, const wheel_params_t &wheel_params)
GeomController< hardware_interface::JointStateInterface, UndercarriageGeom >
classcob__omni__drive__controller_1_1GeomController.html
GeomControllerBase< hardware_interface::JointStateInterface ::ResourceHandleType, UndercarriageGeom >
std::vector< typename UndercarriageGeom ::WheelParams >
wheel_params_t
classcob__omni__drive__controller_1_1GeomController.html
ac1476a3daab38ab501f9801c54e29e45
bool
init
classcob__omni__drive__controller_1_1GeomController.html
aaa1c897741cfdbb9ccaacd729dbb1e9d
(hardware_interface::JointStateInterface *hw, ros::NodeHandle &controller_nh)
bool
init
classcob__omni__drive__controller_1_1GeomController.html
a641c4404b9737e2596a8d1268d8f8132
(hardware_interface::JointStateInterface *hw, const wheel_params_t &wheel_params)
GeomController< hardware_interface::VelocityJointInterface, UndercarriageCtrl >
classcob__omni__drive__controller_1_1GeomController.html
GeomControllerBase< hardware_interface::VelocityJointInterface ::ResourceHandleType, UndercarriageCtrl >
std::vector< typename UndercarriageCtrl ::WheelParams >
wheel_params_t
classcob__omni__drive__controller_1_1GeomController.html
ac1476a3daab38ab501f9801c54e29e45
bool
init
classcob__omni__drive__controller_1_1GeomController.html
aaa1c897741cfdbb9ccaacd729dbb1e9d
(hardware_interface::VelocityJointInterface *hw, ros::NodeHandle &controller_nh)
bool
init
classcob__omni__drive__controller_1_1GeomController.html
a641c4404b9737e2596a8d1268d8f8132
(hardware_interface::VelocityJointInterface *hw, const wheel_params_t &wheel_params)
cob_omni_drive_controller::GeomControllerBase
classcob__omni__drive__controller_1_1GeomControllerBase.html
HandleType
Controller
void
updateState
classcob__omni__drive__controller_1_1GeomControllerBase.html
a8ea36186d476d6c68ccdfae02d21f0e2
()
bool
setup
classcob__omni__drive__controller_1_1GeomControllerBase.html
afac2459f78a78c46eb2c3eaa352179ce
(const std::vector< typename Controller::WheelParams > &wheel_params)
std::vector< HandleType >
drive_joints_
classcob__omni__drive__controller_1_1GeomControllerBase.html
a916d2d177e2c77dda0ec0cc536403d36
boost::scoped_ptr< Controller >
geom_
classcob__omni__drive__controller_1_1GeomControllerBase.html
a5c489a39a58da2c16f573354165be6ec
std::vector< HandleType >
steer_joints_
classcob__omni__drive__controller_1_1GeomControllerBase.html
af509d34fe33cef9d3624fda1674b3163
std::vector< WheelState >
wheel_states_
classcob__omni__drive__controller_1_1GeomControllerBase.html
aafc06013ba5a1f5afb43a4705864bcb1
GeomControllerBase< hardware_interface::JointHandle, UndercarriageDirectCtrl >
classcob__omni__drive__controller_1_1GeomControllerBase.html
void
updateState
classcob__omni__drive__controller_1_1GeomControllerBase.html
a8ea36186d476d6c68ccdfae02d21f0e2
()
bool
setup
classcob__omni__drive__controller_1_1GeomControllerBase.html
afac2459f78a78c46eb2c3eaa352179ce
(const std::vector< typename UndercarriageDirectCtrl ::WheelParams > &wheel_params)
std::vector< hardware_interface::JointHandle >
drive_joints_
classcob__omni__drive__controller_1_1GeomControllerBase.html
a916d2d177e2c77dda0ec0cc536403d36
boost::scoped_ptr< UndercarriageDirectCtrl >
geom_
classcob__omni__drive__controller_1_1GeomControllerBase.html
a5c489a39a58da2c16f573354165be6ec
std::vector< hardware_interface::JointHandle >
steer_joints_
classcob__omni__drive__controller_1_1GeomControllerBase.html
af509d34fe33cef9d3624fda1674b3163
std::vector< WheelState >
wheel_states_
classcob__omni__drive__controller_1_1GeomControllerBase.html
aafc06013ba5a1f5afb43a4705864bcb1
GeomControllerBase< hardware_interface::JointStateInterface ::ResourceHandleType, UndercarriageGeom >
classcob__omni__drive__controller_1_1GeomControllerBase.html
void
updateState
classcob__omni__drive__controller_1_1GeomControllerBase.html
a8ea36186d476d6c68ccdfae02d21f0e2
()
bool
setup
classcob__omni__drive__controller_1_1GeomControllerBase.html
afac2459f78a78c46eb2c3eaa352179ce
(const std::vector< typename UndercarriageGeom ::WheelParams > &wheel_params)
std::vector< hardware_interface::JointStateInterface ::ResourceHandleType >
drive_joints_
classcob__omni__drive__controller_1_1GeomControllerBase.html
a916d2d177e2c77dda0ec0cc536403d36
boost::scoped_ptr< UndercarriageGeom >
geom_
classcob__omni__drive__controller_1_1GeomControllerBase.html
a5c489a39a58da2c16f573354165be6ec
std::vector< hardware_interface::JointStateInterface ::ResourceHandleType >
steer_joints_
classcob__omni__drive__controller_1_1GeomControllerBase.html
af509d34fe33cef9d3624fda1674b3163
std::vector< WheelState >
wheel_states_
classcob__omni__drive__controller_1_1GeomControllerBase.html
aafc06013ba5a1f5afb43a4705864bcb1
GeomControllerBase< hardware_interface::VelocityJointInterface ::ResourceHandleType, UndercarriageCtrl >
classcob__omni__drive__controller_1_1GeomControllerBase.html
void
updateState
classcob__omni__drive__controller_1_1GeomControllerBase.html
a8ea36186d476d6c68ccdfae02d21f0e2
()
bool
setup
classcob__omni__drive__controller_1_1GeomControllerBase.html
afac2459f78a78c46eb2c3eaa352179ce
(const std::vector< typename UndercarriageCtrl ::WheelParams > &wheel_params)
std::vector< hardware_interface::VelocityJointInterface ::ResourceHandleType >
drive_joints_
classcob__omni__drive__controller_1_1GeomControllerBase.html
a916d2d177e2c77dda0ec0cc536403d36
boost::scoped_ptr< UndercarriageCtrl >
geom_
classcob__omni__drive__controller_1_1GeomControllerBase.html
a5c489a39a58da2c16f573354165be6ec
std::vector< hardware_interface::VelocityJointInterface ::ResourceHandleType >
steer_joints_
classcob__omni__drive__controller_1_1GeomControllerBase.html
af509d34fe33cef9d3624fda1674b3163
std::vector< WheelState >
wheel_states_
classcob__omni__drive__controller_1_1GeomControllerBase.html
aafc06013ba5a1f5afb43a4705864bcb1
GeomControllerBase< Interface::ResourceHandleType, Controller >
classcob__omni__drive__controller_1_1GeomControllerBase.html
void
updateState
classcob__omni__drive__controller_1_1GeomControllerBase.html
a8ea36186d476d6c68ccdfae02d21f0e2
()
bool
setup
classcob__omni__drive__controller_1_1GeomControllerBase.html
afac2459f78a78c46eb2c3eaa352179ce
(const std::vector< typename Controller::WheelParams > &wheel_params)
std::vector< Interface::ResourceHandleType >
drive_joints_
classcob__omni__drive__controller_1_1GeomControllerBase.html
a916d2d177e2c77dda0ec0cc536403d36
boost::scoped_ptr< Controller >
geom_
classcob__omni__drive__controller_1_1GeomControllerBase.html
a5c489a39a58da2c16f573354165be6ec
std::vector< Interface::ResourceHandleType >
steer_joints_
classcob__omni__drive__controller_1_1GeomControllerBase.html
af509d34fe33cef9d3624fda1674b3163
std::vector< WheelState >
wheel_states_
classcob__omni__drive__controller_1_1GeomControllerBase.html
aafc06013ba5a1f5afb43a4705864bcb1
cob_omni_drive_controller::GeomMultiController
classcob__omni__drive__controller_1_1GeomMultiController.html
GeomControllerBase< hardware_interface::JointHandle, UndercarriageDirectCtrl >
MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface >
MergedXmlRpcStruct
classMergedXmlRpcStruct.html
XmlRpc::XmlRpcValue
MergedXmlRpcStruct
classMergedXmlRpcStruct.html
a1781e9ec563cfa57e446b95b02388cdb
()
MergedXmlRpcStruct
classMergedXmlRpcStruct.html
a911f03c83e4833f8b574b2bf86769c2f
(const XmlRpc::XmlRpcValue &a, const MergedXmlRpcStruct &b, bool recursive=true)
MergedXmlRpcStruct
classMergedXmlRpcStruct.html
aaf985e2aad141136ae7cf57e6d0c9558
(const XmlRpc::XmlRpcValue &a)
cob_omni_drive_controller::OdometryController
classcob__omni__drive__controller_1_1OdometryController.html
GeomController< hardware_interface::JointStateInterface, UndercarriageGeom >
virtual bool
init
classcob__omni__drive__controller_1_1OdometryController.html
ae8b284fd0ef80de99fced209aa9823b9
(hardware_interface::JointStateInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
OdometryController
classcob__omni__drive__controller_1_1OdometryController.html
a7e53f1fd5891a5c081bdf8b3654738e2
()
virtual bool
srv_reset
classcob__omni__drive__controller_1_1OdometryController.html
aa563e5fa44835ab00a82e8040ef65033
(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
virtual void
starting
classcob__omni__drive__controller_1_1OdometryController.html
a8b2069b500ee411280889340411775f5
(const ros::Time &time)
virtual void
stopping
classcob__omni__drive__controller_1_1OdometryController.html
abd6033dc3b62371668547e48f0e8a1dc
(const ros::Time &time)
virtual void
update
classcob__omni__drive__controller_1_1OdometryController.html
a5f5ba0ca14e11a68ba9dab4c79d24158
(const ros::Time &time, const ros::Duration &period)
void
publish
classcob__omni__drive__controller_1_1OdometryController.html
aa09c5572ef68c4c18e9733709a63fc64
(const ros::TimerEvent &event)
std::string
child_frame_id_
classcob__omni__drive__controller_1_1OdometryController.html
a8f5ca8ea3683d3bbe359e63522cf9409
std::string
frame_id_
classcob__omni__drive__controller_1_1OdometryController.html
abe77a2311b94ca34210a50a73ff71c6d
bool
invert_odom_tf_
classcob__omni__drive__controller_1_1OdometryController.html
af4a2fa79efb6cf1a0ce8d0782e87a421
boost::mutex
mutex_
classcob__omni__drive__controller_1_1OdometryController.html
a118454f32327d33fd926a93f0b8009ec
nav_msgs::Odometry
odom_
classcob__omni__drive__controller_1_1OdometryController.html
a6d63e830fdc8f57d4001345065f3e045
geometry_msgs::TransformStamped
odom_tf_
classcob__omni__drive__controller_1_1OdometryController.html
a4a06829279329b224a9916c5f19060e1
boost::scoped_ptr< OdometryTracker >
odom_tracker_
classcob__omni__drive__controller_1_1OdometryController.html
a478f027e25cd0c147ccd0ad2fa810e0d
PlatformState
platform_state_
classcob__omni__drive__controller_1_1OdometryController.html
a1d10cca36576145ac81e44168d24302b
ros::Timer
publish_timer_
classcob__omni__drive__controller_1_1OdometryController.html
a04c04cfa89aed63abf0c9309c80991d9
bool
reset_
classcob__omni__drive__controller_1_1OdometryController.html
a6630c4bfa76a6cef9e3681b2f82e9554
ros::ServiceServer
service_reset_
classcob__omni__drive__controller_1_1OdometryController.html
a8ea371ef51ecc3566a53f4a41c7de7d2
ros::Time
stop_time_
classcob__omni__drive__controller_1_1OdometryController.html
a8e44da029d6dc3a5e61c39793154bf04
boost::scoped_ptr< tf::TransformBroadcaster >
tf_broadcast_odometry_
classcob__omni__drive__controller_1_1OdometryController.html
ae8911a699b59744edf675099d1210478
ros::Publisher
topic_pub_odometry_
classcob__omni__drive__controller_1_1OdometryController.html
a53f75e03b352e4cf088ae362a846d5b4
PlatformState
structPlatformState.html
const double
getVelX
structPlatformState.html
a6a16985e5c936819639674564a7fd76f
()
const double
getVelY
structPlatformState.html
aa798a0bd11d3838f7aeb5ea5ae998033
()
PlatformState
structPlatformState.html
a37711b6b3b9557ef3dc66d6100e12de4
()
void
setVelX
structPlatformState.html
a265ee5b4cb6c3de0875b73caf3245c23
(const double val)
void
setVelY
structPlatformState.html
a7cc694fb3a88a51e4900d1095230c66f
(const double val)
double
dRotRobRadS
structPlatformState.html
a12aa8bc00dda26151bb57b95402fbc0e
double
dVelLatMMS
structPlatformState.html
a34c0b56415b915bba1f680430c09db64
double
dVelLongMMS
structPlatformState.html
a832970075958ed9bf20a59fa922ae0c6
cob_omni_drive_controller::WheelController::PosCtrl
classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html
void
init
classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html
a82eb7269ffdb0510e51bfbb5810758a2
(const wheel_params_t ¶ms, const ros::NodeHandle &nh)
PosCtrl
classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html
a5feb2cfbc2ed80e67ee3d82885419820
()
void
try_configure
classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html
ab1ca24bd501908bf57b6d0c998f8cc50
(UndercarriageCtrl &ctrl)
void
setForAll
classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html
a7befff3ebdd4ce801349a6225782c91d
(SteerCtrlConfig &config, uint32_t)
void
setForOne
classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html
aba8905141da370c6f8d70dcdbe6ef6a9
(size_t i, SteerCtrlConfig &config, uint32_t)
static void
copy
classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html
a13e7fdb0cf38291d1ab64abbbb9f7636
(PosCtrlParams ¶ms, const SteerCtrlConfig &config)
static void
copy
classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html
a62fe08c06f4bc9ccaf3a3d3263205889
(SteerCtrlConfig &config, const PosCtrlParams ¶ms)
boost::recursive_mutex
mutex
classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html
abe9c0d054299c8404f81e74acd364bba
std::vector< PosCtrlParams >
pos_ctrl_params
classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html
a6418745bbbec05424349d39f0c2fd137
boost::scoped_ptr< dynamic_reconfigure::Server< SteerCtrlConfig > >
reconfigure_server_
classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html
add029f5fba1420532d51bdaf75c3cc44
std::vector< boost::shared_ptr< dynamic_reconfigure::Server< SteerCtrlConfig > > >
reconfigure_server_axes_
classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html
a36731ee68e495f69799f590b0abe20e6
bool
updated
classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html
a6a82f683bc914d583d14b1fdf164d150
PosCtrlData
structPosCtrlData.html
CtrlData
virtual void
calcControlStep
structPosCtrlData.html
a8ec3a72c5d30f72d34529709bc0da159
(WheelCommand &command, double dCmdRateS, bool reset)
PosCtrlData
structPosCtrlData.html
a1bae1d1bc843665d835e6dea39d40c13
(const WheelCtrlPosParams ¶ms)
virtual void
reset
structPosCtrlData.html
ae448f832bdd730fb9f9439b1cffd820f
()
double
m_dCtrlVelCmdInt
structPosCtrlData.html
a61c77f7ba6e2caf708b5ff3d2b6de654
PosCtrlParams
pos_params_
structPosCtrlData.html
ad575f6fa59dd6d3c1b9f8866ac69009e
PosCtrlParams
structPosCtrlParams.html
double
dDamp
structPosCtrlParams.html
aa52b7449bdadd8b84dd4220211efb7b5
double
dDDPhiMax
structPosCtrlParams.html
a30a932762fc86038ca029c4bfda2bf79
double
dDPhiMax
structPosCtrlParams.html
a8c0ed663322703cb2036e89642a63808
double
dSpring
structPosCtrlParams.html
a250e181d9523cf04b859fcdf275a4313
double
dVirtM
structPosCtrlParams.html
a12a4e818ad7a2846a79844e23aad49d3
cob_omni_drive_controller::WheelControllerBase::Target
structcob__omni__drive__controller_1_1WheelControllerBase_1_1Target.html
ros::Time
stamp
structcob__omni__drive__controller_1_1WheelControllerBase_1_1Target.html
ab02ab1b10b7af0c52addbc8082b0a078
PlatformState
state
structcob__omni__drive__controller_1_1WheelControllerBase_1_1Target.html
a5513aaf2b68083c6e2636b298b7865ca
bool
updated
structcob__omni__drive__controller_1_1WheelControllerBase_1_1Target.html
a1b1e58a5e25e62feb500ad2433fb667b
UndercarriageCtrl
classUndercarriageCtrl.html
UndercarriageCtrlBase< PosCtrlData >
WheelCtrlPosParams
WheelParams
classUndercarriageCtrl.html
a486f220a775b7c41d07d9ddb61f30bd3
void
configure
classUndercarriageCtrl.html
acef550f3e643a2737819ebdcf91add25
(const std::vector< PosCtrlParams > &pos_ctrl)
UndercarriageCtrl
classUndercarriageCtrl.html
a23c191d1911a89080c75874305234fbe
(const std::vector< WheelParams > ¶ms)
UndercarriageCtrlBase
classUndercarriageCtrlBase.html
T
UndercarriageGeomBase
void
calcControlStep
classUndercarriageCtrlBase.html
a92aee610f916cf553615ada0477e5841
(std::vector< WheelCommand > &commands, double dCmdRateS, bool reset)
virtual void
calcDirect
classUndercarriageCtrlBase.html
ad1a16b8ffc6ce250338ceed8fb6fa4cd
(PlatformState &state) const
void
reset
classUndercarriageCtrlBase.html
a280efe9684ca3d395c0eedce939f719e
()
void
setTarget
classUndercarriageCtrlBase.html
ab110ff4466feb6457be1220b422b8b94
(const PlatformState &state)
UndercarriageCtrlBase
classUndercarriageCtrlBase.html
a9436a2d71458bdc41ad5cdefe9dc404b
(const std::vector< T2 > ¶ms)
virtual void
updateWheelStates
classUndercarriageCtrlBase.html
a7de86a59f11eecceda7a8141da69672e
(const std::vector< WheelState > &states)
std::vector< boost::shared_ptr< T > >
wheels_
classUndercarriageCtrlBase.html
a0e1b5a9f2eb9204387c8985177b8e9dd
UndercarriageCtrlBase< CtrlData >
classUndercarriageCtrlBase.html
UndercarriageGeomBase
void
calcControlStep
classUndercarriageCtrlBase.html
a92aee610f916cf553615ada0477e5841
(std::vector< WheelCommand > &commands, double dCmdRateS, bool reset)
virtual void
calcDirect
classUndercarriageCtrlBase.html
ad1a16b8ffc6ce250338ceed8fb6fa4cd
(PlatformState &state) const
void
reset
classUndercarriageCtrlBase.html
a280efe9684ca3d395c0eedce939f719e
()
void
setTarget
classUndercarriageCtrlBase.html
ab110ff4466feb6457be1220b422b8b94
(const PlatformState &state)
UndercarriageCtrlBase
classUndercarriageCtrlBase.html
a9436a2d71458bdc41ad5cdefe9dc404b
(const std::vector< T2 > ¶ms)
virtual void
updateWheelStates
classUndercarriageCtrlBase.html
a7de86a59f11eecceda7a8141da69672e
(const std::vector< WheelState > &states)
std::vector< boost::shared_ptr< CtrlData > >
wheels_
classUndercarriageCtrlBase.html
a0e1b5a9f2eb9204387c8985177b8e9dd
UndercarriageCtrlBase< PosCtrlData >
classUndercarriageCtrlBase.html
UndercarriageGeomBase
void
calcControlStep
classUndercarriageCtrlBase.html
a92aee610f916cf553615ada0477e5841
(std::vector< WheelCommand > &commands, double dCmdRateS, bool reset)
virtual void
calcDirect
classUndercarriageCtrlBase.html
ad1a16b8ffc6ce250338ceed8fb6fa4cd
(PlatformState &state) const
void
reset
classUndercarriageCtrlBase.html
a280efe9684ca3d395c0eedce939f719e
()
void
setTarget
classUndercarriageCtrlBase.html
ab110ff4466feb6457be1220b422b8b94
(const PlatformState &state)
UndercarriageCtrlBase
classUndercarriageCtrlBase.html
a9436a2d71458bdc41ad5cdefe9dc404b
(const std::vector< T2 > ¶ms)
virtual void
updateWheelStates
classUndercarriageCtrlBase.html
a7de86a59f11eecceda7a8141da69672e
(const std::vector< WheelState > &states)
std::vector< boost::shared_ptr< PosCtrlData > >
wheels_
classUndercarriageCtrlBase.html
a0e1b5a9f2eb9204387c8985177b8e9dd
UndercarriageDirectCtrl
classUndercarriageDirectCtrl.html
UndercarriageCtrlBase< CtrlData >
WheelCtrlParams
WheelParams
classUndercarriageDirectCtrl.html
a82f902b3b96c8d52b5219df6b46c9da9
UndercarriageDirectCtrl
classUndercarriageDirectCtrl.html
ae91919c54185e7ee8c007ba79a64e6d2
(const std::vector< WheelParams > ¶ms)
UndercarriageGeom
classUndercarriageGeom.html
UndercarriageGeomBase
UndercarriageGeom::WheelParams
virtual void
calcDirect
classUndercarriageGeom.html
ac8d9be652ad2a7751187a224343cb263
(PlatformState &state) const
UndercarriageGeom
classUndercarriageGeom.html
a36684ade912200ef6392f148029e5bf7
(const std::vector< WheelParams > ¶ms)
virtual void
updateWheelStates
classUndercarriageGeom.html
abb17b87a11f825e0f13c9857b135bade
(const std::vector< WheelState > &states)
std::vector< boost::shared_ptr< WheelData > >
wheels_
classUndercarriageGeom.html
a47cf2e5ed48b25433f808996a2711742
UndercarriageGeomBase
classUndercarriageGeomBase.html
virtual void
calcDirect
classUndercarriageGeomBase.html
a053c64ee48c41fe2abdf75e2c2b15c46
(PlatformState &state) const =0
virtual void
updateWheelStates
classUndercarriageGeomBase.html
a5a2413e5c04d2ba9bf2b17e116992b81
(const std::vector< WheelState > &states)=0
virtual
~UndercarriageGeomBase
classUndercarriageGeomBase.html
aedfe3fc68f0369c6f54ddfc136dba183
()
static void
calcDirect
classUndercarriageGeomBase.html
ac7e23526af97243303819137f7507489
(PlatformState &state, const V &wheels)
static void
updateWheelStates
classUndercarriageGeomBase.html
a964bce24917f4470e69f24f78e789bd7
(V &wheels, const std::vector< WheelState > &states)
WheelCommand
structWheelCommand.html
WheelState
WheelCommand
structWheelCommand.html
a4087750ff9f01aa280e9ec793f13dd1a
()
double
dAngGearSteerRadDelta
structWheelCommand.html
aedc8663b8e8e8a373c72ece346b83f2c
cob_omni_drive_controller::WheelController
classcob__omni__drive__controller_1_1WheelController.html
WheelControllerBase< GeomController< hardware_interface::VelocityJointInterface, UndercarriageCtrl > >
cob_omni_drive_controller::WheelController::PosCtrl
virtual bool
init
classcob__omni__drive__controller_1_1WheelController.html
a8cb98e3516f8ac517961dccebdd18c54
(hardware_interface::VelocityJointInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
virtual void
update
classcob__omni__drive__controller_1_1WheelController.html
ac3626cb7680dba03692d5db6ad5e9d3d
(const ros::Time &time, const ros::Duration &period)
class cob_omni_drive_controller::WheelController::PosCtrl
pos_ctrl_
classcob__omni__drive__controller_1_1WheelController.html
a28c2e6ea0dc7df19736abbcd3a898091
cob_omni_drive_controller::WheelControllerBase
classcob__omni__drive__controller_1_1WheelControllerBase.html
T
cob_omni_drive_controller::WheelControllerBase::Target
bool
setup
classcob__omni__drive__controller_1_1WheelControllerBase.html
ad9ad7fc6261191f616f650ada6852022
(ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
virtual void
starting
classcob__omni__drive__controller_1_1WheelControllerBase.html
a0c3a218ce17482f9125ee15e23214c63
(const ros::Time &time)
virtual void
stopping
classcob__omni__drive__controller_1_1WheelControllerBase.html
a142378d65cca35f784269a5fecd8970e
(const ros::Time &time)
void
updateCtrl
classcob__omni__drive__controller_1_1WheelControllerBase.html
a54d3e5fe0293394219b74e344dc4291f
(const ros::Time &time, const ros::Duration &period)
void
topicCallbackTwistCmd
classcob__omni__drive__controller_1_1WheelControllerBase.html
a6b960380366dd71f61b36c2917460e12
(const geometry_msgs::Twist::ConstPtr &msg)
boost::scoped_ptr< realtime_tools::RealtimePublisher< cob_base_controller_utils::WheelCommands > >
commands_pub_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a6f998c9d9be66db6efc0f559b6a58d9f
uint32_t
cycles_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a27bd074d0c666b0d91c94ad82fa4c9f6
double
max_vel_rot_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a1d82dd926f51ec2de9f0c6562b019214
double
max_vel_trans_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a926b08bdb410128d158d3c3387cb6921
boost::mutex
mutex_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a5ecb48160614e20db6a568cc31a1e91a
uint32_t
pub_divider_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a1cd408bf6860cf742c9133d07014572c
struct cob_omni_drive_controller::WheelControllerBase::Target
target_
classcob__omni__drive__controller_1_1WheelControllerBase.html
afcdfb79c43f7ed64e1991f6aca6b2a15
ros::Duration
timeout_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a56028c53d1999c8313de6a74c84d5416
ros::Subscriber
twist_subscriber_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a919c0684b24787059f66a39fe898ccbe
std::vector< WheelCommand >
wheel_commands_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a7cb043eeb1cc5856948eb993ae6bc434
WheelControllerBase< GeomController< hardware_interface::VelocityJointInterface, UndercarriageCtrl > >
classcob__omni__drive__controller_1_1WheelControllerBase.html
GeomController< hardware_interface::VelocityJointInterface, UndercarriageCtrl >
bool
setup
classcob__omni__drive__controller_1_1WheelControllerBase.html
ad9ad7fc6261191f616f650ada6852022
(ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
virtual void
starting
classcob__omni__drive__controller_1_1WheelControllerBase.html
a0c3a218ce17482f9125ee15e23214c63
(const ros::Time &time)
virtual void
stopping
classcob__omni__drive__controller_1_1WheelControllerBase.html
a142378d65cca35f784269a5fecd8970e
(const ros::Time &time)
void
updateCtrl
classcob__omni__drive__controller_1_1WheelControllerBase.html
a54d3e5fe0293394219b74e344dc4291f
(const ros::Time &time, const ros::Duration &period)
void
topicCallbackTwistCmd
classcob__omni__drive__controller_1_1WheelControllerBase.html
a6b960380366dd71f61b36c2917460e12
(const geometry_msgs::Twist::ConstPtr &msg)
boost::scoped_ptr< realtime_tools::RealtimePublisher< cob_base_controller_utils::WheelCommands > >
commands_pub_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a6f998c9d9be66db6efc0f559b6a58d9f
uint32_t
cycles_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a27bd074d0c666b0d91c94ad82fa4c9f6
double
max_vel_rot_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a1d82dd926f51ec2de9f0c6562b019214
double
max_vel_trans_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a926b08bdb410128d158d3c3387cb6921
boost::mutex
mutex_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a5ecb48160614e20db6a568cc31a1e91a
uint32_t
pub_divider_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a1cd408bf6860cf742c9133d07014572c
struct cob_omni_drive_controller::WheelControllerBase::Target
target_
classcob__omni__drive__controller_1_1WheelControllerBase.html
afcdfb79c43f7ed64e1991f6aca6b2a15
ros::Duration
timeout_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a56028c53d1999c8313de6a74c84d5416
ros::Subscriber
twist_subscriber_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a919c0684b24787059f66a39fe898ccbe
std::vector< WheelCommand >
wheel_commands_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a7cb043eeb1cc5856948eb993ae6bc434
WheelControllerBase< GeomMultiController >
classcob__omni__drive__controller_1_1WheelControllerBase.html
cob_omni_drive_controller::GeomMultiController
bool
setup
classcob__omni__drive__controller_1_1WheelControllerBase.html
ad9ad7fc6261191f616f650ada6852022
(ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
virtual void
starting
classcob__omni__drive__controller_1_1WheelControllerBase.html
a0c3a218ce17482f9125ee15e23214c63
(const ros::Time &time)
virtual void
stopping
classcob__omni__drive__controller_1_1WheelControllerBase.html
a142378d65cca35f784269a5fecd8970e
(const ros::Time &time)
void
updateCtrl
classcob__omni__drive__controller_1_1WheelControllerBase.html
a54d3e5fe0293394219b74e344dc4291f
(const ros::Time &time, const ros::Duration &period)
void
topicCallbackTwistCmd
classcob__omni__drive__controller_1_1WheelControllerBase.html
a6b960380366dd71f61b36c2917460e12
(const geometry_msgs::Twist::ConstPtr &msg)
boost::scoped_ptr< realtime_tools::RealtimePublisher< cob_base_controller_utils::WheelCommands > >
commands_pub_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a6f998c9d9be66db6efc0f559b6a58d9f
uint32_t
cycles_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a27bd074d0c666b0d91c94ad82fa4c9f6
double
max_vel_rot_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a1d82dd926f51ec2de9f0c6562b019214
double
max_vel_trans_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a926b08bdb410128d158d3c3387cb6921
boost::mutex
mutex_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a5ecb48160614e20db6a568cc31a1e91a
uint32_t
pub_divider_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a1cd408bf6860cf742c9133d07014572c
struct cob_omni_drive_controller::WheelControllerBase::Target
target_
classcob__omni__drive__controller_1_1WheelControllerBase.html
afcdfb79c43f7ed64e1991f6aca6b2a15
ros::Duration
timeout_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a56028c53d1999c8313de6a74c84d5416
ros::Subscriber
twist_subscriber_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a919c0684b24787059f66a39fe898ccbe
std::vector< WheelCommand >
wheel_commands_
classcob__omni__drive__controller_1_1WheelControllerBase.html
a7cb043eeb1cc5856948eb993ae6bc434
WheelCtrlParams
structWheelCtrlParams.html
CtrlParams
ctrl
structWheelCtrlParams.html
a30d93d80ac73e4ce87abe76c7a9a3c70
WheelGeom
geom
structWheelCtrlParams.html
a4b2c6b8d7281e66dc16f805b6737a6dc
WheelCtrlPosParams
structWheelCtrlPosParams.html
CtrlParams
ctrl
structWheelCtrlPosParams.html
ae736ac59dec9ef47ffb23237281eea9e
WheelGeom
geom
structWheelCtrlPosParams.html
a0b94e58bab5b8011a22cd9389fe745e1
PosCtrlParams
pos_ctrl
structWheelCtrlPosParams.html
a4197f37276d78dfb5fb81cacd30322e3
WheelData
structWheelData.html
double
getVelX
structWheelData.html
ae84e8f9e385ffe5aac583784f5e5e3ca
() const
double
getVelY
structWheelData.html
a28a8789dc66985d6f91ee1864b0de098
() const
void
updateState
structWheelData.html
a2f850e30d71be704f528cb3f098acf1f
(const WheelState &state)
WheelData
structWheelData.html
a5610081a3ee9c64551bd8cac8a3f225c
(const WheelGeom &geom)
static double
mergeRotRobRadS
structWheelData.html
afc2b193be0c7bd530b1a70eff727d065
(const WheelData &wheel1, const WheelData &wheel2)
double
dFactorVel
structWheelData.html
a69cbab0e095eafb5dde123207ddb9a62
WheelGeom
geom_
structWheelData.html
a0484041d6e558e611c47ddcd6c41d159
double
m_dExWheelAngRad
structWheelData.html
a825b61d6da75467f937a0a3cb8ac80c0
double
m_dExWheelDistMM
structWheelData.html
a9ddc9baf8098d7223c2717deb1e0f90c
double
m_dExWheelXPosMM
structWheelData.html
a0f2695ffc2640114a68208b389490131
double
m_dExWheelYPosMM
structWheelData.html
a0f624c421dbbfa47fb54282e728238a0
double
m_dVelWheelMMS
structWheelData.html
a528a69b6a7b23a32abaca38acc9bb1d2
WheelState
state_
structWheelData.html
aab5b992428c764a8da6ca1d4a76ff386
WheelGeom
structWheelGeom.html
double
dDistSteerAxisToDriveWheelMM
structWheelGeom.html
aa6cb46c50e0e7d8bd7b91d40423a5bc1
double
dRadiusWheelMM
structWheelGeom.html
a5ab96c82e368748de6b85c679d265692
std::string
drive_name
structWheelGeom.html
a7c18d48d6571a3d904b4f05ac36f1e95
double
dSteerDriveCoupling
structWheelGeom.html
a19eeb79295bc3434c2b322a053e9b444
double
dWheelXPosMM
structWheelGeom.html
a4937859f46f499ab035d43be62e8dbba
double
dWheelYPosMM
structWheelGeom.html
afb808749f1494540e8b3e5c238995c56
std::string
steer_name
structWheelGeom.html
a8e89eabfecd98e62676a4669d4d33ede
cob_omni_drive_controller::WheelMultiController
classcob__omni__drive__controller_1_1WheelMultiController.html
WheelControllerBase< GeomMultiController >
virtual bool
init
classcob__omni__drive__controller_1_1WheelMultiController.html
aef8cc8995c32e17c8c349a113b944967
(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
virtual void
update
classcob__omni__drive__controller_1_1WheelMultiController.html
a3938f429bef8ae7f9036a0888ab1c153
(const ros::Time &time, const ros::Duration &period)
UndercarriageGeom::WheelParams
structUndercarriageGeom_1_1WheelParams.html
WheelGeom
geom
structUndercarriageGeom_1_1WheelParams.html
a3b4cc5fd16e5518d31a747063da64011
WheelState
structWheelState.html
WheelState
structWheelState.html
a6fb46879208a8fc43d3a64f48c0c8d30
()
double
dAngGearSteerRad
structWheelState.html
aec933db9321b196100105ec11459a5e1
double
dVelGearDriveRadS
structWheelState.html
a875ede2403bc4c8125e711396bc23839
double
dVelGearSteerRadS
structWheelState.html
a73a3789efcee3f7f9abe30aab49fbd35
cob_omni_drive_controller
namespacecob__omni__drive__controller.html
cob_omni_drive_controller::GeomController
cob_omni_drive_controller::GeomControllerBase
cob_omni_drive_controller::GeomMultiController
cob_omni_drive_controller::OdometryController
cob_omni_drive_controller::WheelController
cob_omni_drive_controller::WheelControllerBase
cob_omni_drive_controller::WheelMultiController
bool
parseWheelParams
namespacecob__omni__drive__controller.html
afeaa0b3a793b233ee17e69485687351d
(std::vector< UndercarriageGeom::WheelParams > ¶ms, const ros::NodeHandle &nh, bool read_urdf=true)
bool
parseWheelParams
namespacecob__omni__drive__controller.html
afa9512fa4081991ee4b64455ff983cae
(std::vector< UndercarriageDirectCtrl::WheelParams > ¶ms, const ros::NodeHandle &nh, bool read_urdf=true)
bool
parseWheelParams
namespacecob__omni__drive__controller.html
ac02aacfab9a9f6d759dc1c7b9b6f278d
(std::vector< UndercarriageCtrl::WheelParams > ¶ms, const ros::NodeHandle &nh, bool read_urdf=true)
MathSup
namespaceMathSup.html
double
atan4quad
namespaceMathSup.html
afdbf5cfa154f41ed72f17d4516551d60
(double y, double x)
void
normalizePi
namespaceMathSup.html
a38b92acb90f3fa70b91140acddad4ab4
(double &val)
const double
PI
namespaceMathSup.html
a7cf618d446d59c0b71f2324e2d146eea