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Smart Minotaur
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minotaur::MinotaurControlNode Klassenreferenz

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.

Ausführliche Beschreibung

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.

Dokumentation der Elementfunktionen

void minotaur::MinotaurControlNode::connectToROS ( ros::NodeHandle &  p_nodeHandle)

This method must be called before any other methods can be used regarding ROS communication.

Parameter
p_nodeHandlethe ros node handle to set up communication
void minotaur::MinotaurControlNode::setMinotaurListener ( IMinotaurListener p_listener)

Set a IMinotaurListener to react on incoming messages.

Parameter
p_listenerlistener 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.


Die Dokumentation für diese Klasse wurde erzeugt aufgrund der Dateien: