<?xml version='1.0' encoding='UTF-8' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>attitude_controller.cpp</name>
    <path>/tmp/ws/src/hector_quadrotor/hector_quadrotor_controllers/src/</path>
    <filename>attitude__controller_8cpp</filename>
    <class kind="class">hector_quadrotor_controllers::AttitudeController</class>
    <namespace>hector_quadrotor_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>position_controller.cpp</name>
    <path>/tmp/ws/src/hector_quadrotor/hector_quadrotor_controllers/src/</path>
    <filename>position__controller_8cpp</filename>
    <class kind="class">hector_quadrotor_controllers::PositionController</class>
    <namespace>hector_quadrotor_controllers</namespace>
  </compound>
  <compound kind="file">
    <name>velocity_controller.cpp</name>
    <path>/tmp/ws/src/hector_quadrotor/hector_quadrotor_controllers/src/</path>
    <filename>velocity__controller_8cpp</filename>
    <class kind="class">hector_quadrotor_controllers::VelocityController</class>
    <namespace>hector_quadrotor_controllers</namespace>
  </compound>
  <compound kind="class">
    <name>hector_quadrotor_controllers::AttitudeController</name>
    <filename>classhector__quadrotor__controllers_1_1AttitudeController.html</filename>
    <base>Controller&lt; hector_quadrotor_interface::QuadrotorInterface &gt;</base>
    <member kind="function">
      <type></type>
      <name>AttitudeController</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a74142d848b478fc6a63ff674dbbbb6f4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>estopCb</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a456ad5aabc0e1301421386aa9cc995b5</anchor>
      <arglist>(const std_msgs::BoolConstPtr &amp;estop_msg)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>init</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a5884c8ccf465d40d222eee75f2ac6b49</anchor>
      <arglist>(hector_quadrotor_interface::QuadrotorInterface *interface, ros::NodeHandle &amp;root_nh, ros::NodeHandle &amp;controller_nh)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a5d2ab3583628cdbcefd9126255c3e974</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>starting</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a08ee97b1ec87e21410db638cae345d4c</anchor>
      <arglist>(const ros::Time &amp;time)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>stopping</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a8930b45283d9386d0a43e0a0d5f5b46a</anchor>
      <arglist>(const ros::Time &amp;time)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>update</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a051d2f1c614bea60969a2043a0114405</anchor>
      <arglist>(const ros::Time &amp;time, const ros::Duration &amp;period)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~AttitudeController</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>ad4e02d56b742b68db17f360a326c999f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>control_toolbox::Pid</type>
      <name>pitch</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a2b84b77989ac5431b83290ec7f9a1ef5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>control_toolbox::Pid</type>
      <name>roll</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a790c37b646a4654f48b0e794404a4403</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>control_toolbox::Pid</type>
      <name>yawrate</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a4e480991fc369e69c805c29cbdcb8ee7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>AccelerationHandlePtr</type>
      <name>accel_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a108c857908e335b35ecb5e3c1c9a585f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>hector_uav_msgs::AttitudeCommand</type>
      <name>attitude_command_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>af37fc610c71410077c7d3c1037991183</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>AttitudeCommandHandlePtr</type>
      <name>attitude_input_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a2ede16fe4775a47a38fef66bdfee1844</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>hector_quadrotor_interface::AttitudeCommandLimiter</type>
      <name>attitude_limiter_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>af4a95390403cded4900d91cc4905fb45</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::shared_ptr&lt; hector_quadrotor_interface::AttitudeSubscriberHelper &gt;</type>
      <name>attitude_subscriber_helper_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a08c54aff357277933bc2f4b3c70bb1ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>base_link_frame_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>aba1f904355df82d2e6783b6b9ee22d93</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>base_stabilized_frame_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>ac39da4492c3735a1e6f181c40efe5eaa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>command_estop_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>acaa8621dc78f8750e3655e7f01e7cf63</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::mutex</type>
      <name>command_mutex_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a4412b613e9528ccdb9dccdfe35c25538</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Duration</type>
      <name>command_timeout_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>ada90fd5ff4e626ea67719ab8dd107193</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>estop_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>aed3a20673a7d6f09b7f4e8f8d3dd60b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>estop_deceleration_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a7af380e49e63c1e0787f84ccd1225e23</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>estop_sub_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>abda895f96e5beaceecf921bd4398f2aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>hector_uav_msgs::ThrustCommand</type>
      <name>estop_thrust_command_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>add16722bc1c338883ef90e17c4b500f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>inertia_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a9736eb531148181a42321a27edd042ec</anchor>
      <arglist>[3]</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>mass_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>aabb8ceaa5a49619c82053c2281782cb4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MotorStatusHandlePtr</type>
      <name>motor_status_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>ac1967defd516e6e68dbeb9f97905184b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>struct hector_quadrotor_controllers::AttitudeController::@0</type>
      <name>pid_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a97ce040aa6bb4b5e0fe8b3ab1c7e2736</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>PoseHandlePtr</type>
      <name>pose_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a3b7a7731f123260fd1a2a59d1d8caa36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>tf_prefix_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a4da4cb61ed3e4fe849aaab43325798e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>hector_uav_msgs::ThrustCommand</type>
      <name>thrust_command_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a4e0e85b1adb91962d708b6d818852fbe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ThrustCommandHandlePtr</type>
      <name>thrust_input_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>aa30b71a3948a5dbe9b673fa77c78186c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>hector_quadrotor_interface::ThrustCommandLimiter</type>
      <name>thrust_limiter_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a3fd8de2c4925408010e12486096281b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>TwistHandlePtr</type>
      <name>twist_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>aeb6121be14417811f652936797ecb10e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>geometry_msgs::WrenchStamped</type>
      <name>wrench_control_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a5f946956c6da7655aca14a1df082e5d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>WrenchCommandHandlePtr</type>
      <name>wrench_output_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>a34fe5599786c12b8b076e2fafc7df0bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>hector_uav_msgs::YawrateCommand</type>
      <name>yawrate_command_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>af3b7e013accda29f5b15cbb3c20925c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>YawrateCommandHandlePtr</type>
      <name>yawrate_input_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>adbbc46e6709e0bb694b8be1b9709c0b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>hector_quadrotor_interface::YawrateCommandLimiter</type>
      <name>yawrate_limiter_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1AttitudeController.html</anchorfile>
      <anchor>aa5a235b1c3f9698a1692b709cd5348ab</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>hector_quadrotor_controllers::PositionController</name>
    <filename>classhector__quadrotor__controllers_1_1PositionController.html</filename>
    <base>Controller&lt; QuadrotorInterface &gt;</base>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>init</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a05504c2775b0bf8fe02e4a2c2848924d</anchor>
      <arglist>(QuadrotorInterface *interface, ros::NodeHandle &amp;root_nh, ros::NodeHandle &amp;controller_nh)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>poseCommandCallback</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a2d0f991ccee9d7dfa5e16596a35438e1</anchor>
      <arglist>(const geometry_msgs::PoseStampedConstPtr &amp;command)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PositionController</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a32d668763a33d2d10d436667af82fa5d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>adaa8f584dbf80ada7b1b6c3e01990a60</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>starting</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a4108ebc517683c2236cb1de1ff6dc510</anchor>
      <arglist>(const ros::Time &amp;time)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>stopping</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a17b231f0bc9d8bdf301491c51288e2f6</anchor>
      <arglist>(const ros::Time &amp;time)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>twistLimitCallback</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a40fcb01b0efa582ab079eb56d9537859</anchor>
      <arglist>(const geometry_msgs::TwistConstPtr &amp;limit)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>update</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a7f20c649eccf334169c1c92dee8fe201</anchor>
      <arglist>(const ros::Time &amp;time, const ros::Duration &amp;period)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~PositionController</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>ac0b9ae9f5e3d6855583d9b84a6802283</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>control_toolbox::Pid</type>
      <name>x</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>adb1edfa5778fd917d48f3e0954aab1d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>control_toolbox::Pid</type>
      <name>y</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a2a4b812e314170d6af378ce80221bebc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>control_toolbox::Pid</type>
      <name>yaw</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a80aa0ee583b28321fb6bb7e46e15f9fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>control_toolbox::Pid</type>
      <name>z</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a13b94cfa88bb31f7188036be0afa285f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>initMarker</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a438fcffb611c6b705d07d7a0d225ea5b</anchor>
      <arglist>(std::string name)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>updatePoseCommand</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>ae4e8fb69778dc371df6c0797347d8562</anchor>
      <arglist>(const geometry_msgs::PoseStamped &amp;new_pose)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>updatePoseCommand</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a0b0dc93364996b22991887f265bfff80</anchor>
      <arglist>(const geometry_msgs::Pose &amp;new_pose)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>base_link_frame_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a2c58382e3a2db8a88df69f996ddbc594</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>base_stabilized_frame_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a1678eadde3c1d74a8cc3ba1ca70edcb2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::mutex</type>
      <name>command_mutex_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a520462bf6efa3c57839e7a1b2bd119dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>marker_publisher_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>ab95f857dbc82517883ac7364c21588ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MotorStatusHandlePtr</type>
      <name>motor_status_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a0721afd95fc80256164c45cf2e731f0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>struct hector_quadrotor_controllers::PositionController::@1</type>
      <name>pid_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>aed5411190144f6fbac65ad8964882ebe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>PoseHandlePtr</type>
      <name>pose_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>ada984c6a2b70231bdd7c1f88e568ff01</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>geometry_msgs::Pose</type>
      <name>pose_command_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a2479087253f9f1236afd6cfddc15ee0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>pose_command_valid_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a70bc34e48c8b7c248448a3a91f21956c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>PoseCommandHandlePtr</type>
      <name>pose_input_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a64bb530b4981dc100a3816f19b8edcb9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>visualization_msgs::Marker</type>
      <name>pose_marker_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a59e228594f8d009f1a9f6cc0e93e9146</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>pose_subscriber_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a467371c43674357db6b2d501905a6c53</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>hector_quadrotor_interface::PointLimiter</type>
      <name>position_limiter_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a19ec84420d4cb545ebfb7a2ba69eda6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>tf_prefix_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a73a84cf0d1e63520ce1c2a6d550d596f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>TwistHandlePtr</type>
      <name>twist_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a94f8471b471e276517329238822418fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>TwistCommandHandlePtr</type>
      <name>twist_input_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a662016d384b261d743f4b550441578d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>geometry_msgs::Twist</type>
      <name>twist_limit_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a17081b6d4f8859d96f61e0bd8ec5fc80</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>TwistCommandHandlePtr</type>
      <name>twist_limit_input_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a81fc39926e4463a382a0d8b48d29dd57</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>twist_limit_subscriber_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a276c3d222df1f52746be331135442418</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>twist_limit_valid_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a97066beb16791f0dafee9be31641fdcd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>TwistCommandHandlePtr</type>
      <name>twist_output_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>a99a3a4ae459576247236bfb949216b00</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>world_frame_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1PositionController.html</anchorfile>
      <anchor>aa7ae5bb1c11b9a3dcb2b213e4cc3501f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>hector_quadrotor_controllers::VelocityController</name>
    <filename>classhector__quadrotor__controllers_1_1VelocityController.html</filename>
    <base>Controller&lt; hector_quadrotor_interface::QuadrotorInterface &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>cmd_velCommandCallback</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>ad0a8d8204de835e52c112d334bed04c8</anchor>
      <arglist>(const geometry_msgs::TwistConstPtr &amp;command)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>init</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a94568af42b0ada4b8b077d7906720019</anchor>
      <arglist>(hector_quadrotor_interface::QuadrotorInterface *interface, ros::NodeHandle &amp;root_nh, ros::NodeHandle &amp;controller_nh)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>ac2b796a9e40ba7aa8056a9945be3239d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>starting</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>afef5748d47e530adb5429c4a98f766c2</anchor>
      <arglist>(const ros::Time &amp;time)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>stopping</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>af51a10b388ca604d7bfa2029522bc585</anchor>
      <arglist>(const ros::Time &amp;time)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>twistCommandCallback</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>abb357f76446317c5aee5819a1c2fc366</anchor>
      <arglist>(const geometry_msgs::TwistStampedConstPtr &amp;command)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>update</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>aa5d171ed234df738510f740e97265fa8</anchor>
      <arglist>(const ros::Time &amp;time, const ros::Duration &amp;period)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>VelocityController</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>afc4e84fcbcbc81639f9e57bc0b866145</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~VelocityController</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a876189dfb08db46b65b1f9624777fd28</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>control_toolbox::Pid</type>
      <name>x</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a4b147d362659d60b04f5c9e5007b8b81</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>control_toolbox::Pid</type>
      <name>y</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a9bb09862ce6f59b4950a7f42be23a0c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>control_toolbox::Pid</type>
      <name>z</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a715b19c02071363de15e57183fbcb9bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>AttitudeCommandHandlePtr</type>
      <name>attitude_output_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a020643132e9307df5731215f3a82041c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>base_link_frame_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a1ab9463ced2ebe42f64577d276fd52d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>base_stabilized_frame_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a9a8063446bca4a111d13253f6c9c8274</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>cmd_vel_subscriber_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a31109696858a60627c57fc303d34223f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::mutex</type>
      <name>command_mutex_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a1dfaea9863cbec3fbd04a6a9285e2bcf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>inertia_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a173ef06ea8f10ed52ada85521c80a078</anchor>
      <arglist>[3]</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>load_factor_limit_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>af1768bb837bb5fe255a9be97824f4f1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>mass_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a1f042d0162821098c920d50b62b7c283</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MotorStatusHandlePtr</type>
      <name>motor_status_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>ad698ba81393369725c3029ae1845f4c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>struct hector_quadrotor_controllers::VelocityController::@2</type>
      <name>pid_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a46e1302575c675a79f7f01ad7a937c95</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>PoseHandlePtr</type>
      <name>pose_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>abb7721d5e1484648ebdb4a17ffac38b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>tf_prefix_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a4fec5a0eb106ed5745e254f36b614ca5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ThrustCommandHandlePtr</type>
      <name>thrust_output_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>ab1daffc26c7b1d094cde8ad9a4183d3b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>TwistHandlePtr</type>
      <name>twist_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>ae2a2413259fcbeb5cc5f21215a1e968d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>geometry_msgs::TwistStamped</type>
      <name>twist_command_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a77be8574f6b30d87586b0eacdab45d0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>TwistCommandHandlePtr</type>
      <name>twist_input_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a28b8111c26f978610e84ccfcc2c15927</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>hector_quadrotor_interface::TwistLimiter</type>
      <name>twist_limiter_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a3e976f04681af4c84be7aec3ceed3f38</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>twist_subscriber_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>af3d686268846a96144151ec87af42287</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>world_frame_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>a20b024b440567c18b51aab7bde8e15d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>YawrateCommandHandlePtr</type>
      <name>yawrate_output_</name>
      <anchorfile>classhector__quadrotor__controllers_1_1VelocityController.html</anchorfile>
      <anchor>aad16ddac12fd2e2ad25ba9d849154dc0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>hector_quadrotor_controllers</name>
    <filename>namespacehector__quadrotor__controllers.html</filename>
    <class kind="class">hector_quadrotor_controllers::AttitudeController</class>
    <class kind="class">hector_quadrotor_controllers::PositionController</class>
    <class kind="class">hector_quadrotor_controllers::VelocityController</class>
  </compound>
</tagfile>
