#include "ros/ros.h"
#include "std_msgs/Empty.h"
#include "std_msgs/Bool.h"
#include "std_msgs/Float64.h"
#include "std_msgs/Float64MultiArray.h"
#include "sensor_msgs/JointState.h"
#include "geometry_msgs/Twist.h"
#include "std_srvs/Empty.h"
#include "eigen_conversions/eigen_msg.h"
#include <Eigen/Core>
#include <thread>
#include <functional>
#include <cmath>
#include <string>
#include <kinematics/kinematics.h>

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Classes
class	Controller

Macros
#define	UNINITIALIZED_JOINT_STATE 10.0

#define	ROBOT_NAME "my_robot"

#define	LEG_OFFSET_LENGTH 0.25

#define	NUMBER_OF_LEGS 4

#define	ACTUATORS_PER_LEG 3

Macro Definition Documentation

◆ UNINITIALIZED_JOINT_STATE

#define UNINITIALIZED_JOINT_STATE 10.0

Definition at line 23 of file controller.h.

◆ ROBOT_NAME

#define ROBOT_NAME "my_robot"

Definition at line 24 of file controller.h.

◆ LEG_OFFSET_LENGTH

#define LEG_OFFSET_LENGTH 0.25

Definition at line 25 of file controller.h.

◆ NUMBER_OF_LEGS

#define NUMBER_OF_LEGS 4

Definition at line 26 of file controller.h.

◆ ACTUATORS_PER_LEG

#define ACTUATORS_PER_LEG 3

Definition at line 27 of file controller.h.