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Smart Minotaur
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The MinotaurControlNode class is used to control the minotaur via ROS. Mehr ...
#include <MinotaurControlNode.hpp>
Öffentliche Methoden | |
void | connectToROS (ros::NodeHandle &p_nodeHandle) |
This method must be called before any other methods can be used regarding ROS communication. | |
void | setVelocity (const float p_linearVelocity, const float p_angularVelocity) |
void | setPIDParameter (const float p_Kp, const float p_Ki, const float p_Kd) |
void | setSimpleTarget (const float p_x, const float p_y, const float p_theta) |
void | spin () |
This method computes incoming and sends outgoing messages. | |
void | stop () |
void | setMinotaurListener (IMinotaurListener *p_listener) |
Set a IMinotaurListener to react on incoming messages. |
The MinotaurControlNode class is used to control the minotaur via ROS.
It is an abstraction of the ROS communication, therefore no more ROS logic is needed to control the minotaur.
void minotaur::MinotaurControlNode::connectToROS | ( | ros::NodeHandle & | p_nodeHandle | ) |
This method must be called before any other methods can be used regarding ROS communication.
p_nodeHandle | the ros node handle to set up communication |
void minotaur::MinotaurControlNode::setMinotaurListener | ( | IMinotaurListener * | p_listener | ) |
Set a IMinotaurListener to react on incoming messages.
p_listener | listener to handle messages |
void minotaur::MinotaurControlNode::spin | ( | ) |
This method computes incoming and sends outgoing messages.
Receiving and sending messages is handled in the same thread.