CoordInterfaceMissMan Class Reference

The CoordInterface class class to deal with ros comunications (pub/sub) from MissionManager node to Coordinator node. More...

#include <coordInterfaceMissMan.h>

Public Member Functions
	CoordInterfaceMissMan (ros::NodeHandle nh, std::string robotName)
bool	getStartFromCoord ()
void	pubIamReadyOrNot (bool ready)
int	publishToCoord (Eigen::Matrix< double, VEHICLE_DOF, 1 > nonCoopCartVel_eigen, Eigen::Matrix< double, VEHICLE_DOF, VEHICLE_DOF > admisVelTool_eigen)
	CoordInterface::publishToCoord publish the necessary thing to the coordinator node. More...
int	getCoopCartVel (Eigen::Matrix< double, VEHICLE_DOF, 1 > *coopCartVel_eigen)
int	getUpdatedGoal (Eigen::Matrix4d *wTgoalTool_eigen)
	change goal thingss

Detailed Description

The CoordInterface class class to deal with ros comunications (pub/sub) from MissionManager node to Coordinator node.

Definition at line 20 of file coordInterfaceMissMan.h.

Constructor & Destructor Documentation

CoordInterfaceMissMan::CoordInterfaceMissMan	(	ros::NodeHandle	nh,
		std::string	robotName
	)

initialize JJsharp to send to coordinator (dimensions, the actual size of data after this will remain 0) this dimension are fixed so it is useless to create a new message each time we have to publish

goal change things

Definition at line 3 of file coordInterfaceMissMan.cpp.

Member Function Documentation

int CoordInterfaceMissMan::publishToCoord	(	Eigen::Matrix< double, VEHICLE_DOF, 1 >	nonCoopCartVel_eigen,
		Eigen::Matrix< double, VEHICLE_DOF, VEHICLE_DOF >	admisVelTool_eigen
	)

CoordInterface::publishToCoord publish the necessary thing to the coordinator node.

Parameters

nonCoopCartVel_eigen	(barDotX = w_Jtool_robot * yDot) it is the non-cooperative, tool-frame Cartesian velocities that would be resulted if the yDot computed (at the first TPIK, normal one without cooperation things) were applied.
admisVelTool_eigen	(w_Jtool_robot * w_Jtool_robot^#) computation to express the space of achievable object velocities at the current, overall-system constrained, configuration

Returns

0 correct exec

Definition at line 76 of file coordInterfaceMissMan.cpp.

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

• src/peg/src/rosInterfaces/header/coordInterfaceMissMan.h
• src/peg/src/rosInterfaces/coordInterfaceMissMan.cpp