roborts_decision::GimbalExecutor Class Reference

#include <gimbal_executor.h>

Public Types
enum	ExcutionMode { ExcutionMode::IDLE_MODE, ExcutionMode::ANGLE_MODE, ExcutionMode::RATE_MODE, ExcutionMode::PID_MODE }
	Gimbal execution mode for different tasks. More...
enum	GoalMode { GoalMode::GOAL_MODE_USE_GIMBAL_ANGLE, GoalMode::GOAL_MODE_USE_GIMBAL_RATE, GoalMode::GOAL_MODE_USE_PID }

Public Member Functions
	GimbalExecutor (const ros::NodeHandle &nh=ros::NodeHandle("~"))
	Constructor of GimbalExecutor. More...
	~GimbalExecutor ()=default
void	Execute (const geometry_msgs::PoseStamped &gimbal_angle, GoalMode goal_mode)
void	Execute (geometry_msgs::Point32 &target, roborts_msgs::GimbalAngle &executor_gimbal_angle_)
void	Execute (const roborts_msgs::GimbalAngle &gimbal_angle)
void	Execute (const roborts_msgs::GimbalRate &gimbal_rate)
void	Execute_ShootCmd (const uint16_t &mode_cmd, const uint16_t &num)
	Update the current gimbal executor state. More...
void	Execute_FricWhl (const bool key, const double speed)
BehaviorState	Update ()
void	Cancel ()
	Cancel the current task and deal with the mode transition. More...
void	PublishMsgs ()

Private Types
typedef actionlib::SimpleActionClient< roborts_msgs::PIDControllerTowardAngularAction >	PIDControllerClient

Private Member Functions
void	PIDControllerFeedbackCallback (const roborts_msgs::PIDControllerTowardAngularFeedbackConstPtr &pid_controller_toward_angular_feedback)

Private Attributes
ros::NodeHandle	nh_
ExcutionMode	excution_mode_
	execution mode of the executor More...
BehaviorState	execution_state_
	execution state of the executor (same with behavior state) More...
ros::Publisher	cmd_gimbal_rate_pub_
	gimbal rate control publisher in ROS More...
roborts_msgs::GimbalRate	zero_gimbal_rate_
	zero gimbal rate in form of ROS roborts_msgs::GimbalRate More...
ros::Publisher	cmd_gimbal_angle_pub_
	gimbal angle control publisher in ROS More...
ros::ServiceClient	shoot_client_
ros::ServiceClient	fric_wheel_client_
actionlib::SimpleActionClient< roborts_msgs::PIDControllerTowardAngularAction >	pid_controller_client_
	pid controller actionlib client More...
roborts_msgs::PIDControllerTowardAngularGoal	pid_controller_toward_angular_goal_

Member Typedef Documentation

PIDControllerClient

typedef actionlib::SimpleActionClient<roborts_msgs::PIDControllerTowardAngularAction> roborts_decision::GimbalExecutor::PIDControllerClient

private

Member Enumeration Documentation

ExcutionMode

enum roborts_decision::GimbalExecutor::ExcutionMode

strong

Gimbal execution mode for different tasks.

Enumerator
IDLE_MODE	Default idle mode with no task.
ANGLE_MODE	Angle task mode.
RATE_MODE	Rate task mode.
PID_MODE

GoalMode

enum roborts_decision::GimbalExecutor::GoalMode

strong

Enumerator
GOAL_MODE_USE_GIMBAL_ANGLE
GOAL_MODE_USE_GIMBAL_RATE
GOAL_MODE_USE_PID

Constructor & Destructor Documentation

GimbalExecutor()

roborts_decision::GimbalExecutor::GimbalExecutor ( const ros::NodeHandle &  nh = ros::NodeHandle("~") )

explicit

Constructor of GimbalExecutor.

~GimbalExecutor()

roborts_decision::GimbalExecutor::~GimbalExecutor ( )

default

Member Function Documentation

Cancel()

void roborts_decision::GimbalExecutor::Cancel

(

)

Cancel the current task and deal with the mode transition.

Execute() [1/4]

void roborts_decision::GimbalExecutor::Execute	(	const geometry_msgs::PoseStamped &	gimbal_angle,
		GoalMode	goal_mode
	)

Execute() [2/4]

void roborts_decision::GimbalExecutor::Execute

(

const roborts_msgs::GimbalAngle &

gimbal_angle

)

Execute() [3/4]

void roborts_decision::GimbalExecutor::Execute

(

const roborts_msgs::GimbalRate &

gimbal_rate

)

Execute() [4/4]

void roborts_decision::GimbalExecutor::Execute	(	geometry_msgs::Point32 &	target,
		roborts_msgs::GimbalAngle &	executor_gimbal_angle_
	)

Execute_FricWhl()

void roborts_decision::GimbalExecutor::Execute_FricWhl	(	const bool	key,
		const double	speed
	)

Execute_ShootCmd()

void roborts_decision::GimbalExecutor::Execute_ShootCmd	(	const uint16_t &	mode_cmd,
		const uint16_t &	num
	)

Update the current gimbal executor state.

Returns

Current gimbal executor state(same with behavior state)

PIDControllerFeedbackCallback()

void roborts_decision::GimbalExecutor::PIDControllerFeedbackCallback ( const roborts_msgs::PIDControllerTowardAngularFeedbackConstPtr &  pid_controller_toward_angular_feedback )

private

PublishMsgs()

void roborts_decision::GimbalExecutor::PublishMsgs

(

)

Update()

BehaviorState roborts_decision::GimbalExecutor::Update

(

)

Member Data Documentation

cmd_gimbal_angle_pub_

ros::Publisher roborts_decision::GimbalExecutor::cmd_gimbal_angle_pub_

private

gimbal angle control publisher in ROS

cmd_gimbal_rate_pub_

ros::Publisher roborts_decision::GimbalExecutor::cmd_gimbal_rate_pub_

private

gimbal rate control publisher in ROS

excution_mode_

ExcutionMode roborts_decision::GimbalExecutor::excution_mode_

private

execution mode of the executor

execution_state_

BehaviorState roborts_decision::GimbalExecutor::execution_state_

private

execution state of the executor (same with behavior state)

fric_wheel_client_

ros::ServiceClient roborts_decision::GimbalExecutor::fric_wheel_client_

private

nh_

ros::NodeHandle roborts_decision::GimbalExecutor::nh_

private

pid_controller_client_

actionlib::SimpleActionClient<roborts_msgs::PIDControllerTowardAngularAction> roborts_decision::GimbalExecutor::pid_controller_client_

private

pid controller actionlib client

pid_controller_toward_angular_goal_

roborts_msgs::PIDControllerTowardAngularGoal roborts_decision::GimbalExecutor::pid_controller_toward_angular_goal_

private

shoot_client_

ros::ServiceClient roborts_decision::GimbalExecutor::shoot_client_

private

zero_gimbal_rate_

roborts_msgs::GimbalRate roborts_decision::GimbalExecutor::zero_gimbal_rate_

private

zero gimbal rate in form of ROS roborts_msgs::GimbalRate

---

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

• src/ICRA-Firefly-RoboRTS/roborts_decision/executor/gimbal_executor.h
• src/ICRA-Firefly-RoboRTS/roborts_decision/executor/gimbal_executor.cpp