Robot simulator. More...

#include <robot_simulator.hpp>

Collaboration diagram for mfcpp::RobotSimulator:

Public Member Functions
	RobotSimulator ()

	~RobotSimulator ()

void	init_node ()
	Initialise the node and its parameters. More...

void	run_node ()
	Run the simulator. More...

void	disp_state ()
	Display the current state. More...

Private Member Functions
void	control_input_cb (const mf_robot_simulator::Command::ConstPtr &msg)
	Callback for the control input. More...

void	cart_input_cb (const mf_robot_simulator::CartesianCommand::ConstPtr &msg)
	Callback for the debug cartesian control input. More...

void	pose_input_cb (const geometry_msgs::Pose::ConstPtr &msg)
	Callback for setting the pose. More...

void	update_state (float dt)
	Updates the robot state by integrating the ODE. More...

void	publish_state ()
	Publishes the robot state. More...

Private Attributes
ros::NodeHandle	nh_
	ROS node handler. More...

ros::Subscriber	control_input_sub_
	ROS subscriber for the control input. More...

ros::Subscriber	cart_input_sub_
	ROS subscriber for the debug cartesian control input. More...

ros::Subscriber	pose_input_sub_
	ROS subscriber for setting the pose. More...

ros::Publisher	odom_pub_
	ROS publisher for the odometry output. More...

ros::Publisher	state_pub_
	ROS publisher for the current state. More...

ros::Publisher	rviz_pub_
	ROS publisher for rviz markers. More...

tf2_ros::TransformBroadcaster	tf_br_
	Tf broadcaster. More...

RobotModel	robot_model_
	Robot model. More...

RobotModel::state_type	state_
	Current state of the robot. More...

RobotModel::input_type	input_
	Current control input. More...

std::vector< float >	cart_input_
	Current debug cartesian control input. More...

ROS parameters
float	update_freq_
	State update frequency. More...

std::string	fixed_frame_
	Frame in which the pose is expressed. More...

std::string	robot_frame_
	Frame of the robot. More...

float	robot_length_
	Length of the robot (assuming cylindrical shape) More...

float	robot_radius_
	Radius of the robot (assuming cylindrical shape) More...

int	nbr_int_steps_
	Initial number of integration steps during the update. More...

float	bnd_delta_m_
	Bound on delta_m (ballast control) More...

RobotModel::input_type	bnd_input_

Detailed Description

Robot simulator.

Definition at line 25 of file robot_simulator.hpp.

Constructor & Destructor Documentation

mfcpp::RobotSimulator::RobotSimulator ( )

Definition at line 30 of file robot_simulator.cpp.

mfcpp::RobotSimulator::~RobotSimulator ( )

Definition at line 37 of file robot_simulator.cpp.

Member Function Documentation

void mfcpp::RobotSimulator::cart_input_cb ( const mf_robot_simulator::CartesianCommand::ConstPtr & msg )

private

Callback for the debug cartesian control input.

Parameters

Cartesian speed input

Definition at line 124 of file robot_simulator.cpp.

void mfcpp::RobotSimulator::control_input_cb ( const mf_robot_simulator::Command::ConstPtr & msg )

private

Callback for the control input.

Parameters

Control input

Definition at line 110 of file robot_simulator.cpp.

void mfcpp::RobotSimulator::disp_state ( )

Display the current state.

Definition at line 99 of file robot_simulator.cpp.

void mfcpp::RobotSimulator::init_node ( )

Initialise the node and its parameters.

Definition at line 43 of file robot_simulator.cpp.

void mfcpp::RobotSimulator::pose_input_cb ( const geometry_msgs::Pose::ConstPtr & msg )

private

Callback for setting the pose.

Parameters

msg	Pose in fixed frame

Definition at line 132 of file robot_simulator.cpp.

void mfcpp::RobotSimulator::publish_state ( )

private

Publishes the robot state.

Definition at line 162 of file robot_simulator.cpp.

void mfcpp::RobotSimulator::run_node ( )

Run the simulator.

Definition at line 79 of file robot_simulator.cpp.

void mfcpp::RobotSimulator::update_state ( float dt )

private

Updates the robot state by integrating the ODE.

Parameters

dt	Duration of the update

Definition at line 144 of file robot_simulator.cpp.

Member Data Documentation

float mfcpp::RobotSimulator::bnd_delta_m_

private

Bound on delta_m (ballast control)

Definition at line 69 of file robot_simulator.hpp.

RobotModel::input_type mfcpp::RobotSimulator::bnd_input_

private

Bounds on the control input

Definition at line 70 of file robot_simulator.hpp.

std::vector<float> mfcpp::RobotSimulator::cart_input_

private

Current debug cartesian control input.

Definition at line 59 of file robot_simulator.hpp.

ros::Subscriber mfcpp::RobotSimulator::cart_input_sub_

private

ROS subscriber for the debug cartesian control input.

Definition at line 49 of file robot_simulator.hpp.

ros::Subscriber mfcpp::RobotSimulator::control_input_sub_

private

ROS subscriber for the control input.

Definition at line 48 of file robot_simulator.hpp.

std::string mfcpp::RobotSimulator::fixed_frame_

private

Frame in which the pose is expressed.

Definition at line 64 of file robot_simulator.hpp.

RobotModel::input_type mfcpp::RobotSimulator::input_

private

Current control input.

Definition at line 58 of file robot_simulator.hpp.

int mfcpp::RobotSimulator::nbr_int_steps_

private

Initial number of integration steps during the update.

Definition at line 68 of file robot_simulator.hpp.

ros::NodeHandle mfcpp::RobotSimulator::nh_

private

ROS node handler.

Definition at line 47 of file robot_simulator.hpp.

ros::Publisher mfcpp::RobotSimulator::odom_pub_

private

ROS publisher for the odometry output.

Definition at line 51 of file robot_simulator.hpp.

ros::Subscriber mfcpp::RobotSimulator::pose_input_sub_

private

ROS subscriber for setting the pose.

Definition at line 50 of file robot_simulator.hpp.

std::string mfcpp::RobotSimulator::robot_frame_

private

Frame of the robot.

Definition at line 65 of file robot_simulator.hpp.

float mfcpp::RobotSimulator::robot_length_

private

Length of the robot (assuming cylindrical shape)

Definition at line 66 of file robot_simulator.hpp.

RobotModel mfcpp::RobotSimulator::robot_model_

private

Robot model.

Definition at line 56 of file robot_simulator.hpp.

float mfcpp::RobotSimulator::robot_radius_

private

Radius of the robot (assuming cylindrical shape)

Definition at line 67 of file robot_simulator.hpp.

ros::Publisher mfcpp::RobotSimulator::rviz_pub_

private

ROS publisher for rviz markers.

Definition at line 53 of file robot_simulator.hpp.

RobotModel::state_type mfcpp::RobotSimulator::state_

private

Current state of the robot.

Definition at line 57 of file robot_simulator.hpp.

ros::Publisher mfcpp::RobotSimulator::state_pub_

private

ROS publisher for the current state.

Definition at line 52 of file robot_simulator.hpp.

tf2_ros::TransformBroadcaster mfcpp::RobotSimulator::tf_br_

private

Tf broadcaster.

Definition at line 54 of file robot_simulator.hpp.

float mfcpp::RobotSimulator::update_freq_

private

State update frequency.

Definition at line 63 of file robot_simulator.hpp.

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

/home/corentin/thesis_ws/src/marine-farm-cpp/mf_robot_simulator/include/mf_robot_simulator/robot_simulator.hpp
/home/corentin/thesis_ws/src/marine-farm-cpp/mf_robot_simulator/src/mf_robot_simulator/robot_simulator.cpp

MFCPP 1.0	Corentin Chauvin-Hameau – 2019-2020
Coverage Path Planning for an underwater robot surveying a marine farm

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation