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walk_and_kick::WAKRosInterface Class Reference

An interface class between the walk and kick and ROS worlds. More...

#include <wak_ros_interface.h>

Public Member Functions

 WAKRosInterface (WalkAndKick *wak)
 
void resetData ()
 
bool isFakeRobot () const
 
void update (const ros::Time &now, bool LED4)
 
void writeActuators (const ActuatorVars &actVar)
 
void writeNeutralHead ()
 
void writeZeroGcv ()
 
void writeNeutral ()
 
void clearLEDState ()
 
void writeLEDCommand (int mask, int state)
 
void updateRGBLED (bool blink)
 
void clearRGBLED () const
 
void publishBehaviourState (const WAKGameState *gameState, const WAKBehState *behState)
 
void publishTeamCommsPacket (const TeamCommsData &packet) const
 
bool stateRelaxed () const
 
bool stateIniting () const
 
bool stateStanding () const
 
bool stateWalking () const
 
bool stateKicking () const
 
bool stateFallen () const
 
void sendTransform (const Vec3f &RobotPose)
 
plot_msgs::PlotManagerFS & getPM () const
 
WAKMarkerMan & getMM () const
 
WAKBagMarkerMan & getMMB () const
 

Public Attributes

ros::NodeHandle nh
 
WAKConfig & config
 
GCRosInterface GCRI
 
TCRosInterface TCRI
 
ButtonState button
 
Vec2f ballVec
 
float ballConf
 
bool ballDetected
 
ros::Time ballTime
 
GoalPostList goalPostList
 
ros::Time goalPostTime
 
ObstacleList obstacleList
 
ros::Time obstacleTime
 
Vec3f robotPoseVec
 
float robotPoseConf
 
ros::Time robotPoseTime
 
float robotHeading
 
ros::Time robotHeadingTime
 
bool robotcontrolCommsOk
 
DiveDirection diveDecision
 
plot_msgs::PlotManagerFS * PM
 
WAKMarkerMan * MM
 
WAKBagMarkerMan * MMB
 

Detailed Description

An interface class between the walk and kick and ROS worlds.

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