Code Overview

class Robot

Public Types

enum Level

Values:

enumerator Normal

enumerator Warning

enumerator Error

enum Command

Values:

enumerator Joystic

enumerator Keyboard

enumerator cmd_vel

Public Functions

Robot(std::string robot_name)

Robot(std::string robot_name, float rate_pub)

Robot(std::string robot_name, float rate_pub, std::string)

Robot()

~Robot()

Public Members

std::string m_name

ros::Timer m_timer

Private Functions

void Control()

inline int GetLogLevel()

void calculateOdom()

void cmdVelCallback(const geometry_msgs::Twist::ConstPtr &cmd)

void wheelVelCallback(const mobie_robots_kinematic::VelocityWheel::ConstPtr &vel)

bool CheckLua(lua_State *L, int r)

void ReadConfig(std::string)

bool readField(lua_State*, const char*)

Private Members

Eigen::Vector3d m_turnRadius

Level m_LogLevel

std::vector<Level> m_wheelLog

Command m_source

int m_wheelNumber

std::array<double, 3> m_velocity = {0}

std::array<double, 3> m_odom_vel = {0}

std::array<double, 3> m_odom_pose = {0}

std::map<int, std::unique_ptr<Wheel>> m_wheels

ros::NodeHandle nh_

tf::TransformBroadcaster odom_broadcaster

ros::Subscriber robot_sub

ros::Subscriber robot_sub_wheels

ros::Publisher robot_pub

ros::Publisher robot_pub_odom

class Wheel

Subclassed by Robot::WheelFixed, Robot::WheelSteer

Public Functions

Wheel(int)

Wheel(char, char, float, float, float, float)

virtual void calculate(Robot *ws) = 0

virtual bool validate(Eigen::Vector3d&, float omega, float v, float vy) = 0

virtual double robotVel(double, std::array<double, 3> &f) = 0

void Print()

Public Static Functions

static void push_msgs(Robot*)

Protected Attributes

char l_m_idWheel

float l_m_radius

float l_m_max_ang_vel

float l_m_max_lin_vel

char l_m_placeInMsg

std::array<float, 2> l_m_distanceFromCentre

std::array<float, 2> l_m_velocity = {0}

Protected Static Attributes

static mobie_robots_kinematic::VelocityWheel wheels_msg

class WheelFixed : public Robot::Wheel 

Public Functions

virtual void calculate(Robot *ws) override

virtual bool validate(Eigen::Vector3d&, float omega, float v, float vy) override

WheelFixed(char, char, float, float, float, float)

virtual double robotVel(double, std::array<double, 3> &f) override

class WheelSteer : public Robot::Wheel 

Public Functions

WheelSteer(char, char, float, float, float, float, float, float)

virtual void calculate(Robot*) override

inline virtual bool validate(Eigen::Vector3d&, float omega, float v, float vy)

virtual double robotVel(double, std::array<double, 3> &f) override

Private Members

std::array<float, 3> l_m_steerAngle