#include <base_kinematics.h>
Public Member Functions | |
| bool | init (pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node, std::string link_name) |
| Loads wheel's information from the xml description file and param server. More... | |
| void | updatePosition () |
| Computes 2d postion of the wheel relative to the center of the base. More... | |
Public Attributes | |
| int | direction_multiplier_ |
| specifies the default direction of the wheel More... | |
| pr2_mechanism_model::JointState * | joint_ |
| JointState for this wheel joint. More... | |
| std::string | joint_name_ |
| name of the joint More... | |
| std::string | link_name_ |
| name of the link More... | |
| geometry_msgs::Point | offset_ |
| default offset from the parent caster before any transformations More... | |
| Caster * | parent_ |
| the caster on which this wheel is mounted More... | |
| geometry_msgs::Point | position_ |
| offset_ after rotation transformation from the parent caster's position More... | |
| double | wheel_radius_ |
| wheel radius scale (based on the default wheel radius in Basekinematics) More... | |
| double | wheel_speed_actual_ |
| actual wheel speeds More... | |
| double | wheel_speed_cmd_ |
| desired wheel speed More... | |
| double | wheel_speed_error_ |
| difference between desired and actual speed More... | |
| double | wheel_speed_filtered_ |
| wheel speed filtered with alpha More... | |
| int | wheel_stuck_ |
| remembers if the wheel is stalled More... | |
Definition at line 88 of file base_kinematics.h.
| bool Wheel::init | ( | pr2_mechanism_model::RobotState * | robot_state, |
| ros::NodeHandle & | node, | ||
| std::string | link_name | ||
| ) |
Loads wheel's information from the xml description file and param server.
| robot_state | The robot's current state |
| config | Tiny xml element pointing to this wheel |
Definition at line 46 of file base_kinematics.cpp.
| void Wheel::updatePosition | ( | ) |
Computes 2d postion of the wheel relative to the center of the base.
Definition at line 209 of file base_kinematics.cpp.
| int controller::Wheel::direction_multiplier_ |
specifies the default direction of the wheel
Definition at line 146 of file base_kinematics.h.
| pr2_mechanism_model::JointState* controller::Wheel::joint_ |
JointState for this wheel joint.
Definition at line 95 of file base_kinematics.h.
| std::string controller::Wheel::joint_name_ |
name of the joint
Definition at line 105 of file base_kinematics.h.
| std::string controller::Wheel::link_name_ |
name of the link
Definition at line 110 of file base_kinematics.h.
| geometry_msgs::Point controller::Wheel::offset_ |
default offset from the parent caster before any transformations
Definition at line 100 of file base_kinematics.h.
| Caster* controller::Wheel::parent_ |
the caster on which this wheel is mounted
Definition at line 121 of file base_kinematics.h.
| geometry_msgs::Point controller::Wheel::position_ |
offset_ after rotation transformation from the parent caster's position
Definition at line 116 of file base_kinematics.h.
| double controller::Wheel::wheel_radius_ |
wheel radius scale (based on the default wheel radius in Basekinematics)
Definition at line 156 of file base_kinematics.h.
| double controller::Wheel::wheel_speed_actual_ |
actual wheel speeds
Definition at line 126 of file base_kinematics.h.
| double controller::Wheel::wheel_speed_cmd_ |
desired wheel speed
Definition at line 131 of file base_kinematics.h.
| double controller::Wheel::wheel_speed_error_ |
difference between desired and actual speed
Definition at line 136 of file base_kinematics.h.
| double controller::Wheel::wheel_speed_filtered_ |
wheel speed filtered with alpha
Definition at line 141 of file base_kinematics.h.
| int controller::Wheel::wheel_stuck_ |
remembers if the wheel is stalled
Definition at line 151 of file base_kinematics.h.