Default controller, which does not move. More...

Inheritance diagram for NoCtrl:

Public Member Functions
void	chooseVelocities (double &trans_vel, double &rot_vel, std::ostream &)
	Computes new velocities for ROS node. More...

	NoCtrl (const MotionModel &model)
	The constructor only sets the motion model. More...

virtual	~NoCtrl ()
	The destructor needs to be explicitely redefined. More...

Public Member Functions inherited from Controller
virtual void	newState (const State &state)
	Handles new state of the robot. More...

void	stopMotion ()
	Stops the robot (i.e. sets both velocities to zero). More...

const double &	timeStep () const
	Stops the robot (i.e. sets both velocities to zero). More...

virtual	~Controller ()
	The destructor needs to be defined as virtual. More...

Additional Inherited Members
Signals inherited from Controller
void	commandsUpdated (const double &trans_vel, const double &rot_vel)
	Update the display of the controller's commands. More...

void	stateUpdated (const State &state)
	Update the display of the state. More...

Protected Member Functions inherited from Controller
void	changeFirstOdometry ()
	Change the odometry data status (first or not). More...

	Controller (const MotionModel &model, const double &ts)
	This constructor (for the inheriting controllers) sets the motion model to the given one. More...

bool	firstOdometry ()
	Are the odometry data the first? More...

void	updateVelocities (double &trans_vel, double &rot_vel)
	Update the velocities from the fields and send the update signal. More...

Protected Attributes inherited from Controller
double	initial_date
	The first date of the odometry. More...

const MotionModel &	motion_model
	The model of the motion. More...

double	moving_velocity
	Translation velocity desired for the robot. More...

const double	time_step
	The time step of the controller. More...

double	turning_velocity
	Rotation velocity desired for the robot. More...

Detailed Description

Default controller, which does not move.

Definition at line 132 of file controller.hpp.

Constructor & Destructor Documentation

NoCtrl::NoCtrl ( const MotionModel & model )

inline

The constructor only sets the motion model.

Parameters

model The motion model.

Definition at line 136 of file controller.hpp.

virtual NoCtrl::~NoCtrl ( )

inlinevirtual

The destructor needs to be explicitely redefined.

Definition at line 139 of file controller.hpp.

void NoCtrl::chooseVelocities	(	double &	trans_vel,
		double &	rot_vel,
		std::ostream &	log_str
	)

inlinevirtual

Computes new velocities for ROS node.

This method has to be defined by inheritors. It should use updateVelocities.

Parameters

trans_vel	the translation velocity, sent by the ROS node to ROS,
rot_vel	the rotation velocity, sent to ROS,
log_str	the log stream, allowing to log debug data.

Implements Controller.

Definition at line 142 of file controller.hpp.

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