This class simplifies the implementation of a interface between xbox and PTU. More...

#include <class_xbox_ptu_teleop.h>

Classes
struct	TYPE_analog
	struct to define a analog button More...

Public Types
enum	{ MAN_AUTO_STEER =0, MAN_AUTO_BRAKE =1, MAN_AUTO_THROTTLE =2, MAN_AUTO_CLUTCH =3, _B4 =4, MAN_AUTO_IGNITION =5, START =6, E_STOP =7, _B8 =8, _B9 =9, HIGH_LIGHTS =10, WARNING_LIGHTS =11, MEDIUM_LIGHTS =12, _B13 =13, STOP =14 }
	enumerator to describe all digital buttons More...

enum	{ STEERING =0, _A1 =1, BRAKE =2, _A3 =3, CLUTCH =4, THROTTLE =5 }
	enumerator to describe all analog buttons More...

enum	{ MAN_AUTO_STEER =0, MAN_AUTO_BRAKE =1, MAN_AUTO_THROTTLE =2, MAN_AUTO_CLUTCH =3, _B4 =4, MAN_AUTO_IGNITION =5, START =6, E_STOP =7, _B8 =8, _B9 =9, HIGH_LIGHTS =10, WARNING_LIGHTS =11, MEDIUM_LIGHTS =12, _B13 =13, STOP =14 }
	digital buttons at xbox and their function More...

enum	{ STEERING =0, _A1 =1, BRAKE =2, _A3 =3, CLUTCH =4, THROTTLE =5 }
	analog buttons and their functionalities More...

Public Member Functions
	XboxTeleopAtlascar (int num_but, int num_axis)
	constructor More...

	XboxTeleopAtlascar (int num_but, int num_axis)
	constructor More...

	~XboxTeleopAtlascar ()
	destructor More...

	~XboxTeleopAtlascar ()
	destructor More...

Private Member Functions
void	XboxCallback (const sensor_msgs::Joy::ConstPtr &joy)
	callback that is called when a xbox msg is received More...

void	XboxCallback (const sensor_msgs::Joy::ConstPtr &joy)
	constructor More...

Private Attributes
vector< TYPE_analog >	analog
	vector with analog/axis values More...

ros::Publisher	atlascar_cmd_
	method just to publish the base message More...

double	b_brake

float	b_brake

double	b_left_ang

float	b_left_ang

double	b_right_ang

float	b_right_ang

double	b_speed

float	b_speed

double	brake_max

double	brake_min
	minimum & maximum brake values More...

vector< int >	button
	vector with all digital buttons status More...

double	clutch_max

double	clutch_min
	minimum & maximum clutch values More...

atlascar_base::AtlascarCommand	command
	struct with the Atlascar Base Command message More...

ros::Subscriber	joy_sub_
	method to subscribe the gamepad message More...

double	m_brake
	values to create the linear interpolation More...

float	m_brake
	line segment slope to calculate whished car speed value More...

double	m_left_ang
	values to create the linear interpolation More...

float	m_left_ang
	line segment slope, left side and right side More...

double	m_right_ang

float	m_right_ang

double	m_speed
	values to create the linear interpolation More...

float	m_speed
	line segment slope to calculate whished car speed value More...

ros::NodeHandle	nh_teleop

int	num_axes

int	num_buttons
	variable with number of digital buttons and analog axis More...

ros::Publisher	ptu_pub

double	speed_max

float	speed_max

double	speed_min
	values to create the linear interpolation More...

float	speed_min
	car speed limits More...

float	steering_left_ang
	limit values for the steering angles More...

double	steering_left_ang
	values to create the linear interpolation More...

double	steering_max
	minimum & maximum steering angle values More...

double	steering_min

double	steering_right_ang

float	steering_right_ang

double	throttle_max

double	throttle_min
	minimum & maximum throttle values More...

Detailed Description

This class simplifies the implementation of a interface between xbox and PTU.

Definition at line 49 of file class_xbox_ptu_teleop.h.

Member Enumeration Documentation

anonymous enum

enumerator to describe all digital buttons

Enumerator
MAN_AUTO_STEER
MAN_AUTO_BRAKE
MAN_AUTO_THROTTLE
MAN_AUTO_CLUTCH
_B4
MAN_AUTO_IGNITION
START
E_STOP
_B8
_B9
HIGH_LIGHTS
WARNING_LIGHTS
MEDIUM_LIGHTS
_B13
STOP

Definition at line 77 of file class_xbox_ptu_teleop.h.

anonymous enum

enumerator to describe all analog buttons

Enumerator
STEERING
_A1
BRAKE
_A3
CLUTCH
THROTTLE

Definition at line 81 of file class_xbox_ptu_teleop.h.

anonymous enum

digital buttons at xbox and their function

Enumerator
MAN_AUTO_STEER
MAN_AUTO_BRAKE
MAN_AUTO_THROTTLE
MAN_AUTO_CLUTCH
_B4
MAN_AUTO_IGNITION
START
E_STOP
_B8
_B9
HIGH_LIGHTS
WARNING_LIGHTS
MEDIUM_LIGHTS
_B13
STOP

Definition at line 83 of file class_xbox_teleop.h.

anonymous enum

analog buttons and their functionalities

Enumerator
STEERING
_A1
BRAKE
_A3
CLUTCH
THROTTLE

Definition at line 87 of file class_xbox_teleop.h.

Constructor & Destructor Documentation

XboxTeleopAtlascar::XboxTeleopAtlascar	(	int	num_but,
		int	num_axis
	)

constructor

function to initialize the XboxTeleop for the AtlasCAR robot

Parameters

num_but	- number of digital buttons in the gamepad
num_axis	- number of analog buttons or axis
num_but	- specifies the number of digital buttons that the xbox gamepad have
num_axis	- specifies the number of analog buttons that the xbox gamepad have

Definition at line 42 of file class_xbox_ptu_teleop.cpp.

XboxTeleopAtlascar::~XboxTeleopAtlascar ( )

destructor

XboxTeleopAtlascar::XboxTeleopAtlascar	(	int	num_but,
		int	num_axis
	)

constructor

Parameters

num_but	- number of digital buttons in the gamepad
num_axis	- number of analog buttons or axis

XboxTeleopAtlascar::~XboxTeleopAtlascar ( )

destructor

Member Function Documentation

void XboxTeleopAtlascar::XboxCallback ( const sensor_msgs::Joy::ConstPtr & joy )

private

callback that is called when a xbox msg is received

private method associated to the callback when a new message from the gamepad is received, and construct the message that will be sent to atlascar_base

Parameters

joy	- struct with gamepad message
joy	- is the message received from the gamepad

Definition at line 94 of file class_xbox_ptu_teleop.cpp.

void XboxTeleopAtlascar::XboxCallback ( const sensor_msgs::Joy::ConstPtr & joy )

private

constructor

Member Data Documentation

vector< TYPE_analog > XboxTeleopAtlascar::analog

private

vector with analog/axis values

vector of analog buttons values

Definition at line 106 of file class_xbox_ptu_teleop.h.

ros::Publisher XboxTeleopAtlascar::atlascar_cmd_

private

method just to publish the base message

atlascar command message

Definition at line 141 of file class_xbox_ptu_teleop.h.

double XboxTeleopAtlascar::b_brake

private

Definition at line 120 of file class_xbox_teleop.h.

float XboxTeleopAtlascar::b_brake

private

Definition at line 128 of file class_xbox_ptu_teleop.h.

double XboxTeleopAtlascar::b_left_ang

private

Definition at line 113 of file class_xbox_teleop.h.

float XboxTeleopAtlascar::b_left_ang

private

Definition at line 115 of file class_xbox_ptu_teleop.h.

double XboxTeleopAtlascar::b_right_ang

private

Definition at line 113 of file class_xbox_teleop.h.

float XboxTeleopAtlascar::b_right_ang

private

Definition at line 115 of file class_xbox_ptu_teleop.h.

double XboxTeleopAtlascar::b_speed

private

Definition at line 118 of file class_xbox_teleop.h.

float XboxTeleopAtlascar::b_speed

private

Definition at line 124 of file class_xbox_ptu_teleop.h.

double XboxTeleopAtlascar::brake_max

private

Definition at line 103 of file class_xbox_teleop.h.

double XboxTeleopAtlascar::brake_min

private

minimum & maximum brake values

Definition at line 103 of file class_xbox_teleop.h.

vector< int > XboxTeleopAtlascar::button

private

vector with all digital buttons status

vector of digital buttons values

Definition at line 101 of file class_xbox_ptu_teleop.h.

double XboxTeleopAtlascar::clutch_max

private

Definition at line 105 of file class_xbox_teleop.h.

double XboxTeleopAtlascar::clutch_min

private

minimum & maximum clutch values

Definition at line 105 of file class_xbox_teleop.h.

atlascar_base::AtlascarCommand XboxTeleopAtlascar::command

private

struct with the Atlascar Base Command message

Definition at line 137 of file class_xbox_ptu_teleop.h.

ros::Subscriber XboxTeleopAtlascar::joy_sub_

private

method to subscribe the gamepad message

Definition at line 145 of file class_xbox_ptu_teleop.h.

double XboxTeleopAtlascar::m_brake

private

values to create the linear interpolation

Definition at line 120 of file class_xbox_teleop.h.

float XboxTeleopAtlascar::m_brake

private

line segment slope to calculate whished car speed value

Definition at line 128 of file class_xbox_ptu_teleop.h.

double XboxTeleopAtlascar::m_left_ang

private

values to create the linear interpolation

Definition at line 113 of file class_xbox_teleop.h.

float XboxTeleopAtlascar::m_left_ang

private

line segment slope, left side and right side

Definition at line 115 of file class_xbox_ptu_teleop.h.

double XboxTeleopAtlascar::m_right_ang

private

Definition at line 113 of file class_xbox_teleop.h.

float XboxTeleopAtlascar::m_right_ang

private

Definition at line 115 of file class_xbox_ptu_teleop.h.

double XboxTeleopAtlascar::m_speed

private

values to create the linear interpolation

Definition at line 118 of file class_xbox_teleop.h.

float XboxTeleopAtlascar::m_speed

private

line segment slope to calculate whished car speed value

Definition at line 124 of file class_xbox_ptu_teleop.h.

ros::NodeHandle XboxTeleopAtlascar::nh_teleop

private

Definition at line 96 of file class_xbox_ptu_teleop.h.

int XboxTeleopAtlascar::num_axes

private

Definition at line 132 of file class_xbox_ptu_teleop.h.

int XboxTeleopAtlascar::num_buttons

private

variable with number of digital buttons and analog axis

specifies the number of digital buttons and analog buttons in the gamepad

Definition at line 132 of file class_xbox_ptu_teleop.h.

ros::Publisher XboxTeleopAtlascar::ptu_pub

private

Definition at line 128 of file class_xbox_teleop.h.

double XboxTeleopAtlascar::speed_max

private

Definition at line 116 of file class_xbox_teleop.h.

float XboxTeleopAtlascar::speed_max

private

Definition at line 120 of file class_xbox_ptu_teleop.h.

double XboxTeleopAtlascar::speed_min

private

values to create the linear interpolation

Definition at line 116 of file class_xbox_teleop.h.

float XboxTeleopAtlascar::speed_min

private

car speed limits

Definition at line 120 of file class_xbox_ptu_teleop.h.

float XboxTeleopAtlascar::steering_left_ang

private

limit values for the steering angles

Definition at line 111 of file class_xbox_ptu_teleop.h.

double XboxTeleopAtlascar::steering_left_ang

private

values to create the linear interpolation

Definition at line 111 of file class_xbox_teleop.h.

double XboxTeleopAtlascar::steering_max

private

minimum & maximum steering angle values

Definition at line 101 of file class_xbox_teleop.h.

double XboxTeleopAtlascar::steering_min

private

Definition at line 101 of file class_xbox_teleop.h.

double XboxTeleopAtlascar::steering_right_ang

private

Definition at line 111 of file class_xbox_teleop.h.

float XboxTeleopAtlascar::steering_right_ang

private

Definition at line 111 of file class_xbox_ptu_teleop.h.

double XboxTeleopAtlascar::throttle_max

private

Definition at line 107 of file class_xbox_teleop.h.

double XboxTeleopAtlascar::throttle_min

private

minimum & maximum throttle values

Definition at line 107 of file class_xbox_teleop.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation