Teleop Class Reference

Publish teleop stokes to a user selected topic, or to '/cmd_vel' if no topic is selected. Buttons, the keyboard or sliders can be used to move a vehicle in the world. More...

#include <Teleop.hh>

Public Slots
void	OnKeySwitch (bool _checked)
	Callback in Qt thread when the keyboard is enabled or disabled.
void	OnTeleopTwist (double _forwardVel, double _verticalVel, double _angVel)
	Publish the twist message to the selected command velocity topic.
void	SetMaxForwardVel (double _velocity)
	Callback in Qt thread when the forward velocity changes.
void	SetMaxVerticalVel (double _velocity)
	Callback in Qt thread when the vertical velocity changes.
void	SetMaxYawVel (double _velocity)
	Callback in Qt thread when the yaw velocity changes.
void	SetTopic (const QString &_topic)
	Callback in Qt thread when the topic changes.

Signals
void	MaxForwardVelChanged ()
	Notify that forward velocity has changed.
void	MaxVerticalVelChanged ()
	Notify that vertical velocity has changed.
void	MaxYawVelChanged ()
	Notify that yaw velocity has changed.
void	TopicChanged ()
	Notify that topic has changed.

Public Member Functions
	Teleop ()
	Constructor.
	~Teleop () override
	Destructor.
void	LoadConfig (const tinyxml2::XMLElement *) override
Q_INVOKABLE double	MaxForwardVel () const
	Get the forward velocity.
Q_INVOKABLE double	MaxVerticalVel () const
	Get the vertical velocity.
Q_INVOKABLE double	MaxYawVel () const
	Get the yaw velocity.
void	SetKeyScale ()
	Sets the movement scale when the keyboard is used.
Q_INVOKABLE QString	Topic () const
	Get the topic as a string, for example '/echo'.

Protected Member Functions
bool	eventFilter (QObject *_obj, QEvent *_event) override
	Filters events of type 'keypress' and 'keyrelease'.

Properties
double	maxForwardVel
	Forward velocity.
double	maxVerticalVel
	Vertical velocity.
double	maxYawVel
	Yaw velocity.
QString	topic
	Topic.

Detailed Description

Publish teleop stokes to a user selected topic, or to '/cmd_vel' if no topic is selected. Buttons, the keyboard or sliders can be used to move a vehicle in the world.

Configuration

• <topic>: Topic to publish twist messages to.

Constructor & Destructor Documentation

Teleop()

Teleop

(

)

Constructor.

~Teleop()

~Teleop ( )

override

Destructor.

Member Function Documentation

eventFilter()

bool eventFilter ( QObject *  _obj, QEvent *  _event  )

overrideprotected

Filters events of type 'keypress' and 'keyrelease'.

LoadConfig()

void LoadConfig ( const tinyxml2::XMLElement *  )

override

MaxForwardVel()

Q_INVOKABLE double MaxForwardVel

(

)

const

Get the forward velocity.

Returns

Forward velocity.

MaxForwardVelChanged

void MaxForwardVelChanged ( )

signal

Notify that forward velocity has changed.

MaxVerticalVel()

Q_INVOKABLE double MaxVerticalVel

(

)

const

Get the vertical velocity.

Returns

Vertical velocity.

MaxVerticalVelChanged

void MaxVerticalVelChanged ( )

signal

Notify that vertical velocity has changed.

MaxYawVel()

Q_INVOKABLE double MaxYawVel

(

)

const

Get the yaw velocity.

Returns

Yaw velocity.

MaxYawVelChanged

void MaxYawVelChanged ( )

signal

Notify that yaw velocity has changed.

OnKeySwitch

void OnKeySwitch ( bool  _checked )

slot

Callback in Qt thread when the keyboard is enabled or disabled.

Parameters

[in]

_checked

variable to indicate the state of the switch.

OnTeleopTwist

void OnTeleopTwist ( double  _forwardVel, double  _verticalVel, double  _angVel  )

slot

Publish the twist message to the selected command velocity topic.

Parameters

[in]	_forwardVel	Forward velocity
[in]	_verticalVel	Vertical velocity
[in]	_angVel	Yaw velocity

SetKeyScale()

void SetKeyScale

(

)

Sets the movement scale when the keyboard is used.

SetMaxForwardVel

void SetMaxForwardVel ( double  _velocity )

slot

Callback in Qt thread when the forward velocity changes.

Parameters

[in]

_velocity

variable to indicate the forward velocity.

SetMaxVerticalVel

void SetMaxVerticalVel ( double  _velocity )

slot

Callback in Qt thread when the vertical velocity changes.

Parameters

[in]

_velocity

variable to indicate the vertical velocity.

SetMaxYawVel

void SetMaxYawVel ( double  _velocity )

slot

Callback in Qt thread when the yaw velocity changes.

Parameters

[in]

_velocity

variable to indicate the yaw velocity.

SetTopic

void SetTopic ( const QString &  _topic )

slot

Callback in Qt thread when the topic changes.

Parameters

[in]

_topic

variable to indicate the topic to publish the Twist commands.

Topic()

Q_INVOKABLE QString Topic

(

)

const

Get the topic as a string, for example '/echo'.

Returns

Topic

TopicChanged

void TopicChanged ( )

signal

Notify that topic has changed.

Property Documentation

maxForwardVel

double maxForwardVel

readwrite

Forward velocity.

maxVerticalVel

double maxVerticalVel

readwrite

Vertical velocity.

maxYawVel

double maxYawVel

readwrite

Yaw velocity.

topic

QString topic

readwrite

Topic.

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

• Teleop.hh