Class Overview

class Robot

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::Time m_current_time

ros::Time m_last_time

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

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

class WheelSteer : public Robot::Wheel

Private Members

std::array<float, 3> l_m_steerAngle