rm_chassis_controllers::Recover Class Reference

#include <recover.h>

Inheritance diagram for rm_chassis_controllers::Recover:

Collaboration diagram for rm_chassis_controllers::Recover:

Public Member Functions
	Recover (BipedalControllerInterface *controller_, const std::vector< hardware_interface::JointHandle * > &joint_handles, const std::vector< control_toolbox::Pid * > &pid_legs, const std::vector< control_toolbox::Pid * > &pid_thetas, control_toolbox::Pid *pid_theta_diff)
void	execute (const ros::Time &time, const ros::Duration &period) override
void	detectChassisStateToRecover ()
void	detectLegRecoveryState (LegRecoveryState &recovery_state, const double &leg_pos)
const char *	name () const override
Public Member Functions inherited from rm_chassis_controllers::ModeBase
	ModeBase (BipedalControllerInterface *controller_)
virtual	~ModeBase ()=default
void	updateUnstick (const bool &left_unstick, const bool &right_unstick)
bool	getUnstick ()

Additional Inherited Members
Protected Attributes inherited from rm_chassis_controllers::ModeBase
bool	left_unstick_ { false }
bool	right_unstick_ { false }
BipedalControllerInterface *	controller { nullptr }

Constructor & Destructor Documentation

Recover()

rm_chassis_controllers::Recover::Recover	(	BipedalControllerInterface *	controller_,
		const std::vector< hardware_interface::JointHandle * > &	joint_handles,
		const std::vector< control_toolbox::Pid * > &	pid_legs,
		const std::vector< control_toolbox::Pid * > &	pid_thetas,
		control_toolbox::Pid *	pid_theta_diff )

Member Function Documentation

detectChassisStateToRecover()

void rm_chassis_controllers::Recover::detectChassisStateToRecover ( )

inline

detectLegRecoveryState()

void rm_chassis_controllers::Recover::detectLegRecoveryState ( LegRecoveryState & recovery_state, const double & leg_pos )

inline

execute()

void rm_chassis_controllers::Recover::execute ( const ros::Time & time, const ros::Duration & period )

overridevirtual

Implements rm_chassis_controllers::ModeBase.

name()

const char * rm_chassis_controllers::Recover::name ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::ModeBase.

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

• rm_chassis_controllers/include/rm_chassis_controllers/bipedal_wheel_controller/controller_mode/recover.h
• rm_chassis_controllers/src/bipedal_wheel_controller/controller_mode/recover.cpp