fam::Fam Class Reference

Force Allocation Module implementation using GNC module. More...

#include <fam.h>

Public Member Functions
	Fam (ros::NodeHandle *nh)
	~Fam ()
void	Step ()

Protected Member Functions
void	ReadParams (void)
void	CtlCallBack (const ff_msgs::FamCommand &c)
void	FlightModeCallback (const ff_msgs::FlightMode::ConstPtr &mode)
void	InertiaCallback (const geometry_msgs::InertiaStamped::ConstPtr &inertia)

Protected Attributes
pmc::Fam	fam_
ros::Subscriber	ctl_sub_
ros::Subscriber	flight_mode_sub_
ros::Subscriber	inertia_sub_
ros::Publisher	pmc_pub_
ff_util::PerfTimer	pt_fam_
std::mutex	mutex_speed_
std::mutex	mutex_mass_
Eigen::Vector3f	center_of_mass_
bool	inertia_received_
pmc::FamInput	input_

Detailed Description

Force Allocation Module implementation using GNC module.

Constructor & Destructor Documentation

Fam()

fam::Fam::Fam ( ros::NodeHandle *  nh )

explicit

~Fam()

fam::Fam::~Fam

(

)

Member Function Documentation

CtlCallBack()

void fam::Fam::CtlCallBack ( const ff_msgs::FamCommand &  c )

protected

FlightModeCallback()

void fam::Fam::FlightModeCallback ( const ff_msgs::FlightMode::ConstPtr &  mode )

protected

InertiaCallback()

void fam::Fam::InertiaCallback ( const geometry_msgs::InertiaStamped::ConstPtr &  inertia )

protected

ReadParams()

void fam::Fam::ReadParams ( void  )

protected

Step()

void fam::Fam::Step

(

)

Member Data Documentation

center_of_mass_

Eigen::Vector3f fam::Fam::center_of_mass_

protected

ctl_sub_

ros::Subscriber fam::Fam::ctl_sub_

protected

fam_

pmc::Fam fam::Fam::fam_

protected

flight_mode_sub_

ros::Subscriber fam::Fam::flight_mode_sub_

protected

inertia_received_

bool fam::Fam::inertia_received_

protected

inertia_sub_

ros::Subscriber fam::Fam::inertia_sub_

protected

input_

pmc::FamInput fam::Fam::input_

protected

mutex_mass_

std::mutex fam::Fam::mutex_mass_

protected

mutex_speed_

std::mutex fam::Fam::mutex_speed_

protected

pmc_pub_

ros::Publisher fam::Fam::pmc_pub_

protected

pt_fam_

ff_util::PerfTimer fam::Fam::pt_fam_

protected

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

• gnc/fam/include/fam/fam.h
• gnc/fam/src/fam.cc