motor_controller::VelParserNode Class Reference

#include <vel_parser_node.hpp>

Inheritance diagram for motor_controller::VelParserNode:

Collaboration diagram for motor_controller::VelParserNode:

Public Member Functions
	VelParserNode ()
void	callback (const geometry_msgs::msg::Twist::SharedPtr msg)
float	normalize (float value, float old_min, float old_max, float new_min, float new_max)
float	deg_to_tick (float deg, float e_min, float e_max)
float	radians_to_deg (float radians)
std::vector< float >	calculate_velocity (float velocity, float radius)
std::vector< float >	calculate_target_deg (float radius)
std::vector< float >	calculate_target_tick (std::vector< float > target_angles)

Private Attributes
rclcpp::Subscription< geometry_msgs::msg::Twist >::SharedPtr	subscription
rclcpp::Publisher< rover_msgs::msg::MotorsCommand >::SharedPtr	publisher
int	speed_factor
float	d1
float	d2
float	d3
float	d4
int	enc_min
int	enc_max
float	enc_mid
float	linear_limit
float	angular_limit
float	angular_factor

Constructor & Destructor Documentation

VelParserNode()

VelParserNode::VelParserNode

(

)

Member Function Documentation

calculate_target_deg()

std::vector< float > VelParserNode::calculate_target_deg

(

float

radius

)

calculate_target_tick()

std::vector< float > VelParserNode::calculate_target_tick

(

std::vector< float >

target_angles

)

calculate_velocity()

std::vector< float > VelParserNode::calculate_velocity	(	float	velocity,
		float	radius )

callback()

void VelParserNode::callback

(

const geometry_msgs::msg::Twist::SharedPtr

msg

)

deg_to_tick()

float VelParserNode::deg_to_tick	(	float	deg,
		float	e_min,
		float	e_max )

normalize()

float VelParserNode::normalize	(	float	value,
		float	old_min,
		float	old_max,
		float	new_min,
		float	new_max )

radians_to_deg()

float VelParserNode::radians_to_deg

(

float

radians

)

Member Data Documentation

angular_factor

float motor_controller::VelParserNode::angular_factor

private

angular_limit

float motor_controller::VelParserNode::angular_limit

private

d1

float motor_controller::VelParserNode::d1

private

d2

float motor_controller::VelParserNode::d2

private

d3

float motor_controller::VelParserNode::d3

private

d4

float motor_controller::VelParserNode::d4

private

enc_max

int motor_controller::VelParserNode::enc_max

private

enc_mid

float motor_controller::VelParserNode::enc_mid

private

enc_min

int motor_controller::VelParserNode::enc_min

private

linear_limit

float motor_controller::VelParserNode::linear_limit

private

publisher

rclcpp::Publisher<rover_msgs::msg::MotorsCommand>::SharedPtr motor_controller::VelParserNode::publisher

private

speed_factor

int motor_controller::VelParserNode::speed_factor

private

subscription

rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr motor_controller::VelParserNode::subscription

private

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

• rover_motor_controller_cpp/include/motor_controller/vel_parser_node.hpp
• rover_motor_controller_cpp/src/motor_controller/vel_parser_node.cpp