ArtSteer Class Reference

List of all members.

Public Member Functions
	ArtSteer ()
void	run ()
	~ArtSteer ()
Private Types
typedef art_msgs::DriverState	DriverState
Private Member Functions
int	calibrate_wheel_position (void)
void	close ()
float	degrees2volts (float degrees)
void	GetCmd (const art_msgs::SteeringCommand::ConstPtr &cmdIn)
void	GetPos (const art_msgs::IOadrState::ConstPtr &ioIn)
int	open ()
void	PublishStatus (void)
void	read_wheel_angle (void)
float	volts2degrees (float volts)
Private Attributes
bool	angle_known_
boost::shared_ptr< Polynomial >	apoly_
int	calibration_cycle_
int	calibration_periods_
double	cur_sensor_time_
boost::shared_ptr< devsteer >	dev_
bool	diagnostic_
DriverState::_state_type	driver_state_
ros::Subscriber	ioadr_state_
double	last_sensor_time_
float	last_set_point_
float	mean_voltage_
double	sensor_timeout_
float	set_point_
bool	simulate_
float	steering_angle_
ros::Subscriber	steering_cmd_
ros::Publisher	steering_diag_
float	steering_sensor_
ros::Publisher	steering_state_
boost::shared_ptr< testwheel >	tw_
boost::shared_ptr< Polynomial >	vpoly_
bool	wheel_calibrated_
bool	wheel_tested_

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Detailed Description

Definition at line 76 of file steering.cc.

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Member Typedef Documentation

typedef art_msgs::DriverState ArtSteer::DriverState [private]

Definition at line 120 of file steering.cc.

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Constructor & Destructor Documentation

ArtSteer::ArtSteer

(

)

Todo:

use this to detect when ioadr driver hung or not responding

Definition at line 164 of file steering.cc.

ArtSteer::~ArtSteer

(

)

Definition at line 238 of file steering.cc.

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Member Function Documentation

int ArtSteer::calibrate_wheel_position

(

void

)

[private]

Definition at line 323 of file steering.cc.

void ArtSteer::close

(

)

[private]

close the device.

Postcondition:

driver_state_ is CLOSED

Definition at line 271 of file steering.cc.

float ArtSteer::degrees2volts

(

float

degrees

)

[inline, private]

Definition at line 158 of file steering.cc.

void ArtSteer::GetCmd

(

const art_msgs::SteeringCommand::ConstPtr &

cmdIn

)

[private]

Definition at line 278 of file steering.cc.

void ArtSteer::GetPos

(

const art_msgs::IOadrState::ConstPtr &

ioIn

)

[private]

Definition at line 299 of file steering.cc.

int ArtSteer::open

(

)

[private]

open the device.

Returns:

0 if successful.

Postcondition:

state is OPENED (if successful)

Definition at line 251 of file steering.cc.

void ArtSteer::PublishStatus

(

void

)

[private]

publish current device status

Definition at line 374 of file steering.cc.

void ArtSteer::read_wheel_angle

(

void

)

[private]

Get simulated wheel angle from driver

Only required when simulating the position sensor (even when using the real steering device).

Bug:

this should NOT be called until after calibrate_wheel_position

Postcondition:

when simulate_ is true, tries to set steering_angle_, steering_sensor_, cur_sensor_time_, angle_known_

Definition at line 359 of file steering.cc.

void ArtSteer::run

(

)

Definition at line 394 of file steering.cc.

float ArtSteer::volts2degrees

(

float

volts

)

[inline, private]

Definition at line 147 of file steering.cc.

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Member Data Documentation

bool ArtSteer::angle_known_ [private]

Definition at line 131 of file steering.cc.

boost::shared_ptr<Polynomial> ArtSteer::apoly_ [private]

Definition at line 139 of file steering.cc.

int ArtSteer::calibration_cycle_ [private]

Definition at line 116 of file steering.cc.

int ArtSteer::calibration_periods_ [private]

Definition at line 99 of file steering.cc.

double ArtSteer::cur_sensor_time_ [private]

Definition at line 110 of file steering.cc.

boost::shared_ptr<devsteer> ArtSteer::dev_ [private]

Definition at line 135 of file steering.cc.

bool ArtSteer::diagnostic_ [private]

Definition at line 97 of file steering.cc.

DriverState::_state_type ArtSteer::driver_state_ [private]

Definition at line 121 of file steering.cc.

ros::Subscriber ArtSteer::ioadr_state_ [private]

Definition at line 103 of file steering.cc.

double ArtSteer::last_sensor_time_ [private]

Definition at line 111 of file steering.cc.

float ArtSteer::last_set_point_ [private]

Definition at line 113 of file steering.cc.

float ArtSteer::mean_voltage_ [private]

Definition at line 117 of file steering.cc.

double ArtSteer::sensor_timeout_ [private]

Definition at line 100 of file steering.cc.

float ArtSteer::set_point_ [private]

Definition at line 112 of file steering.cc.

bool ArtSteer::simulate_ [private]

Definition at line 98 of file steering.cc.

float ArtSteer::steering_angle_ [private]

Definition at line 108 of file steering.cc.

ros::Subscriber ArtSteer::steering_cmd_ [private]

Definition at line 104 of file steering.cc.

ros::Publisher ArtSteer::steering_diag_ [private]

Definition at line 106 of file steering.cc.

float ArtSteer::steering_sensor_ [private]

Definition at line 109 of file steering.cc.

ros::Publisher ArtSteer::steering_state_ [private]

Definition at line 105 of file steering.cc.

boost::shared_ptr<testwheel> ArtSteer::tw_ [private]

Definition at line 136 of file steering.cc.

boost::shared_ptr<Polynomial> ArtSteer::vpoly_ [private]

Definition at line 141 of file steering.cc.

bool ArtSteer::wheel_calibrated_ [private]

Definition at line 132 of file steering.cc.

bool ArtSteer::wheel_tested_ [private]

Definition at line 133 of file steering.cc.

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

• steering.cc