#include <base_kinematics.h>

Public Member Functions
void	computeWheelPositions ()
	Computes 2d postion of every wheel relative to the center of the base. More...

bool	init (pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node)
	Loads BaseKinematic's information from the xml description file and param server. More...

geometry_msgs::Twist	pointVel2D (const geometry_msgs::Point &pos, const geometry_msgs::Twist &vel)
	Computes 2d velocity of a point at relative distance pos to another point with velocity (and rotation (z)) vel. More...

Public Attributes
std::vector< Caster >	caster_
	vector of every caster attached to the base More...

double	MAX_DT_
	maximum dT used in computation of interpolated velocity command More...

std::string	name_
	name of this BaseKinematics (generally associated with whatever controller is using it) More...

int	num_casters_
	number of casters connected to the base More...

int	num_wheels_
	number of wheels connected to the base More...

std::string	robot_base_id_
	Name(string id) of the robot base frame. More...

pr2_mechanism_model::RobotState *	robot_state_
	remembers everything about the state of the robot More...

std::vector< Wheel >	wheel_
	vector of every wheel attached to the base More...

std::string	xml_caster_name_
	the name of the casters in the xml file More...

std::string	xml_wheel_name_
	the name of the wheels in the xml file More...

Detailed Description

Definition at line 261 of file base_kinematics.h.

Member Function Documentation

◆ computeWheelPositions()

void BaseKinematics::computeWheelPositions ( )

Computes 2d postion of every wheel relative to the center of the base.

Definition at line 220 of file base_kinematics.cpp.

◆ init()

bool BaseKinematics::init	(	pr2_mechanism_model::RobotState *	robot_state,
		ros::NodeHandle &	node
	)

Loads BaseKinematic's information from the xml description file and param server.

Parameters

robot_state	The robot's current state
config	Tiny xml element pointing to its controller

Returns: Successful init

Definition at line 158 of file base_kinematics.cpp.

◆ pointVel2D()

geometry_msgs::Twist BaseKinematics::pointVel2D	(	const geometry_msgs::Point &	pos,
		const geometry_msgs::Twist &	vel
	)

Computes 2d velocity of a point at relative distance pos to another point with velocity (and rotation (z)) vel.

Parameters

pos	The position of the object relative to the center of rotation
vel	Velocity of the center of rotation

Returns: Velocity at the given point

Definition at line 229 of file base_kinematics.cpp.

Member Data Documentation

◆ caster_

std::vector<Caster> controller::BaseKinematics::caster_

vector of every caster attached to the base

Definition at line 309 of file base_kinematics.h.

◆ MAX_DT_

double controller::BaseKinematics::MAX_DT_

maximum dT used in computation of interpolated velocity command

Definition at line 329 of file base_kinematics.h.

◆ name_

std::string controller::BaseKinematics::name_

name of this BaseKinematics (generally associated with whatever controller is using it)

Definition at line 324 of file base_kinematics.h.

◆ num_casters_

int controller::BaseKinematics::num_casters_

number of casters connected to the base

Definition at line 299 of file base_kinematics.h.

◆ num_wheels_

int controller::BaseKinematics::num_wheels_

number of wheels connected to the base

Definition at line 294 of file base_kinematics.h.

◆ robot_base_id_

std::string controller::BaseKinematics::robot_base_id_

Name(string id) of the robot base frame.

Definition at line 334 of file base_kinematics.h.

◆ robot_state_

pr2_mechanism_model::RobotState* controller::BaseKinematics::robot_state_

remembers everything about the state of the robot

Definition at line 289 of file base_kinematics.h.

◆ wheel_

std::vector<Wheel> controller::BaseKinematics::wheel_

vector of every wheel attached to the base

Definition at line 304 of file base_kinematics.h.

◆ xml_caster_name_

std::string controller::BaseKinematics::xml_caster_name_

the name of the casters in the xml file

Definition at line 314 of file base_kinematics.h.

◆ xml_wheel_name_

std::string controller::BaseKinematics::xml_wheel_name_

the name of the wheels in the xml file

Definition at line 319 of file base_kinematics.h.

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

Public Member Functions

Public Attributes