gb_controller.GestureController Class Reference

Gesture Controller class subscribes to the "/inertial" topic and publishes to "/cmd_vel" the velocity commands generated using wrist linear accelerations. More...

Inheritance diagram for gb_controller.GestureController:

Public Member Functions
def	__init__
	Initializer function. More...
def	callback_continuos_control
	Callback manager. More...
def	run
	Controller starter. More...
def	acceleration_reset
	Reset velocities to zero. More...
def	reset
	Shutdown handler. More...
def	update
	Mapping of acceleration to robot angular and linear velocities. More...

Public Attributes
	update_rate
	Node frequency (Hz)
	linear_coefficent
	Mapping coefficient for linear velocity.
	angular_coefficent
	Mapping coefficient for angular velocity.
	last_acc
	Stores the last acceleration received by the node.
	last_time
	Time instant in which the last acceleration message arrived.
	pub_twist
	Velocity commands publisher.
	pub_mode
	Control modality publisher.

Detailed Description

Gesture Controller class subscribes to the "/inertial" topic and publishes to "/cmd_vel" the velocity commands generated using wrist linear accelerations.

Definition at line 8 of file gb_controller.py.

Constructor & Destructor Documentation

def gb_controller.GestureController.__init__

(

self

)

Initializer function.

Parameters

self	The object pointer

Definition at line 13 of file gb_controller.py.

Member Function Documentation

def gb_controller.GestureController.acceleration_reset

(

self

)

Reset velocities to zero.

Parameters

self	The object pointer

Definition at line 67 of file gb_controller.py.

def gb_controller.GestureController.callback_continuos_control	(		self,
			data
	)

Callback manager.

Parameters

self	The object pointer
data	The ROS message received

Definition at line 37 of file gb_controller.py.

def gb_controller.GestureController.reset

(

self

)

Shutdown handler.

Parameters

self	The object pointer

Definition at line 74 of file gb_controller.py.

def gb_controller.GestureController.run

(

self

)

Controller starter.

Parameters

self	The object pointer

Definition at line 46 of file gb_controller.py.

def gb_controller.GestureController.update

(

self

)

Mapping of acceleration to robot angular and linear velocities.

Parameters

self	The object pointer

Definition at line 82 of file gb_controller.py.

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

• src/gb_controller.py