Public Member Functions | Private Attributes | List of all members
CloberSerial Class Reference

#include <clober_serial.hpp>

Public Member Functions

 CloberSerial ()
 
void cmd_vel_callback (const geometry_msgs::Twist::ConstPtr &msg)
 
void faultFlags (const uint16_t flags)
 
float limitMaxSpeed (float speed)
 
void on_motor_move (MotorCommand cmd)
 
void parse ()
 
void publish_loop (int hz)
 
void publishFeedback ()
 
void publishOdom ()
 
void read_serial (int ms)
 
void restartScript ()
 
void sendHeardBeat ()
 
void sendRPM (pair< int, int > channel, pair< float, float > rpm)
 
void sendStop (pair< int, int > channel)
 
void SetValues ()
 
void toVW (float l_speed, float r_speed)
 
pair< float, float > toWheelSpeed (float v, float w)
 
void updatePose ()
 
void updatePose (double dL, double dR)
 
 ~CloberSerial ()
 

Private Attributes

float angularVel_
 
int32_t baudrate_
 
ros::Subscriber cmd_vel_sub_
 
double cmd_vel_timeout_
 
bool cmd_vel_timeout_switch_
 
VehicleConfig config_
 
float control_frequency_
 
ros::Publisher feedback_pub_
 
float heading_
 
float linearVel_
 
MotorCommand motor_cmd_
 
std::string odom_frame_child_
 
std::string odom_frame_parent_
 
double odom_freq_
 
int odom_mode_
 
ros::Publisher odom_pub_
 
std::string port_
 
double posX_
 
double posY_
 
bool publish_tf_
 
shared_ptr< thread > publishThread_
 
shared_ptr< thread > readThread_
 
std::shared_ptr< serial::Serial > serial_
 
tf2_ros::TransformBroadcaster tf_broadcaster_
 
int timeout_
 
ros::Time timestamp_
 
bool trigger_
 
CloberUtils utils_
 

Detailed Description

Definition at line 72 of file clober_serial.hpp.

Constructor & Destructor Documentation

◆ CloberSerial()

CloberSerial::CloberSerial ( )

Definition at line 3 of file clober_serial.cpp.

◆ ~CloberSerial()

CloberSerial::~CloberSerial ( )

Definition at line 60 of file clober_serial.cpp.

Member Function Documentation

◆ cmd_vel_callback()

void CloberSerial::cmd_vel_callback ( const geometry_msgs::Twist::ConstPtr &  msg)

Definition at line 79 of file clober_serial.cpp.

◆ faultFlags()

void CloberSerial::faultFlags ( const uint16_t  flags)

Definition at line 201 of file clober_serial.cpp.

◆ limitMaxSpeed()

float CloberSerial::limitMaxSpeed ( float  speed)

Definition at line 239 of file clober_serial.cpp.

◆ on_motor_move()

void CloberSerial::on_motor_move ( MotorCommand  cmd)

Definition at line 454 of file clober_serial.cpp.

◆ parse()

void CloberSerial::parse ( )

Definition at line 100 of file clober_serial.cpp.

◆ publish_loop()

void CloberSerial::publish_loop ( int  hz)

Definition at line 336 of file clober_serial.cpp.

◆ publishFeedback()

void CloberSerial::publishFeedback ( )

Definition at line 348 of file clober_serial.cpp.

◆ publishOdom()

void CloberSerial::publishOdom ( )

Definition at line 373 of file clober_serial.cpp.

◆ read_serial()

void CloberSerial::read_serial ( int  ms)

Definition at line 91 of file clober_serial.cpp.

◆ restartScript()

void CloberSerial::restartScript ( )

Definition at line 447 of file clober_serial.cpp.

◆ sendHeardBeat()

void CloberSerial::sendHeardBeat ( )

Definition at line 440 of file clober_serial.cpp.

◆ sendRPM()

void CloberSerial::sendRPM ( pair< int, int >  channel,
pair< float, float >  rpm 
)

Definition at line 476 of file clober_serial.cpp.

◆ sendStop()

void CloberSerial::sendStop ( pair< int, int >  channel)

Definition at line 486 of file clober_serial.cpp.

◆ SetValues()

void CloberSerial::SetValues ( )

Definition at line 69 of file clober_serial.cpp.

◆ toVW()

void CloberSerial::toVW ( float  l_speed,
float  r_speed 
)

Definition at line 222 of file clober_serial.cpp.

◆ toWheelSpeed()

pair< float, float > CloberSerial::toWheelSpeed ( float  v,
float  w 
)

Definition at line 230 of file clober_serial.cpp.

◆ updatePose() [1/2]

void CloberSerial::updatePose ( )

Definition at line 260 of file clober_serial.cpp.

◆ updatePose() [2/2]

void CloberSerial::updatePose ( double  dL,
double  dR 
)

Definition at line 285 of file clober_serial.cpp.

Member Data Documentation

◆ angularVel_

float CloberSerial::angularVel_
private

Definition at line 137 of file clober_serial.hpp.

◆ baudrate_

int32_t CloberSerial::baudrate_
private

Definition at line 110 of file clober_serial.hpp.

◆ cmd_vel_sub_

ros::Subscriber CloberSerial::cmd_vel_sub_
private

Definition at line 124 of file clober_serial.hpp.

◆ cmd_vel_timeout_

double CloberSerial::cmd_vel_timeout_
private

Definition at line 129 of file clober_serial.hpp.

◆ cmd_vel_timeout_switch_

bool CloberSerial::cmd_vel_timeout_switch_
private

Definition at line 115 of file clober_serial.hpp.

◆ config_

VehicleConfig CloberSerial::config_
private

Definition at line 134 of file clober_serial.hpp.

◆ control_frequency_

float CloberSerial::control_frequency_
private

Definition at line 112 of file clober_serial.hpp.

◆ feedback_pub_

ros::Publisher CloberSerial::feedback_pub_
private

Definition at line 120 of file clober_serial.hpp.

◆ heading_

float CloberSerial::heading_
private

Definition at line 141 of file clober_serial.hpp.

◆ linearVel_

float CloberSerial::linearVel_
private

Definition at line 136 of file clober_serial.hpp.

◆ motor_cmd_

MotorCommand CloberSerial::motor_cmd_
private

Definition at line 126 of file clober_serial.hpp.

◆ odom_frame_child_

std::string CloberSerial::odom_frame_child_
private

Definition at line 132 of file clober_serial.hpp.

◆ odom_frame_parent_

std::string CloberSerial::odom_frame_parent_
private

Definition at line 131 of file clober_serial.hpp.

◆ odom_freq_

double CloberSerial::odom_freq_
private

Definition at line 128 of file clober_serial.hpp.

◆ odom_mode_

int CloberSerial::odom_mode_
private

Definition at line 150 of file clober_serial.hpp.

◆ odom_pub_

ros::Publisher CloberSerial::odom_pub_
private

Definition at line 119 of file clober_serial.hpp.

◆ port_

std::string CloberSerial::port_
private

Definition at line 109 of file clober_serial.hpp.

◆ posX_

double CloberSerial::posX_
private

Definition at line 139 of file clober_serial.hpp.

◆ posY_

double CloberSerial::posY_
private

Definition at line 140 of file clober_serial.hpp.

◆ publish_tf_

bool CloberSerial::publish_tf_
private

Definition at line 116 of file clober_serial.hpp.

◆ publishThread_

shared_ptr<thread> CloberSerial::publishThread_
private

Definition at line 146 of file clober_serial.hpp.

◆ readThread_

shared_ptr<thread> CloberSerial::readThread_
private

Definition at line 145 of file clober_serial.hpp.

◆ serial_

std::shared_ptr<serial::Serial> CloberSerial::serial_
private

Definition at line 108 of file clober_serial.hpp.

◆ tf_broadcaster_

tf2_ros::TransformBroadcaster CloberSerial::tf_broadcaster_
private

Definition at line 121 of file clober_serial.hpp.

◆ timeout_

int CloberSerial::timeout_
private

Definition at line 111 of file clober_serial.hpp.

◆ timestamp_

ros::Time CloberSerial::timestamp_
private

Definition at line 106 of file clober_serial.hpp.

◆ trigger_

bool CloberSerial::trigger_
private

Definition at line 143 of file clober_serial.hpp.

◆ utils_

CloberUtils CloberSerial::utils_
private

Definition at line 148 of file clober_serial.hpp.

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

clober_serial
Author(s):
autogenerated on Wed Mar 2 2022 00:01:24