DarwinSimpleNavAlgorithm Class Reference

IRI ROS Specific Driver Class. More...

#include <darwin_simple_nav_alg.h>

List of all members.

Public Types
typedef darwin_simple_nav::DarwinSimpleNavConfig	Config
	define config type
Public Member Functions
bool	compute_robot_speed (T2DPose &traget_pose, double &vt, double &vr)
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
	DarwinSimpleNavAlgorithm (void)
	constructor
void	lock (void)
	Lock Algorithm.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~DarwinSimpleNavAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type
double	max_angular_vel
double	max_linear_accel
double	max_linear_vel

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Detailed Description

IRI ROS Specific Driver Class.

Definition at line 45 of file darwin_simple_nav_alg.h.

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Member Typedef Documentation

typedef darwin_simple_nav::DarwinSimpleNavConfig DarwinSimpleNavAlgorithm::Config

define config type

Define a Config type with the DarwinSimpleNavConfig. All driver implementations will then use the same variable type Config.

Definition at line 69 of file darwin_simple_nav_alg.h.

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Constructor & Destructor Documentation

DarwinSimpleNavAlgorithm::DarwinSimpleNavAlgorithm

(

void

)

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 5 of file darwin_simple_nav_alg.cpp.

DarwinSimpleNavAlgorithm::~DarwinSimpleNavAlgorithm

(

void

)

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 11 of file darwin_simple_nav_alg.cpp.

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Member Function Documentation

bool DarwinSimpleNavAlgorithm::compute_robot_speed	(	T2DPose &	traget_pose,
		double &	vt,
		double &	vr
	)

Definition at line 29 of file darwin_simple_nav_alg.cpp.

void DarwinSimpleNavAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = 0
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 15 of file darwin_simple_nav_alg.cpp.

void DarwinSimpleNavAlgorithm::lock

(

void

)

[inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 94 of file darwin_simple_nav_alg.h.

bool DarwinSimpleNavAlgorithm::try_enter

(

void

)

[inline]

Tries Access to Algorithm.

Tries access to Algorithm

Returns:

true if the lock was adquired, false otherwise

Definition at line 110 of file darwin_simple_nav_alg.h.

void DarwinSimpleNavAlgorithm::unlock

(

void

)

[inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 101 of file darwin_simple_nav_alg.h.

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Member Data Documentation

CMutex DarwinSimpleNavAlgorithm::alg_mutex_ [protected]

define config type

Define a Config type with the DarwinSimpleNavConfig. All driver implementations will then use the same variable type Config.

Definition at line 54 of file darwin_simple_nav_alg.h.

Config DarwinSimpleNavAlgorithm::config_

config variable

This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.

Definition at line 77 of file darwin_simple_nav_alg.h.

double DarwinSimpleNavAlgorithm::max_angular_vel [protected]

Definition at line 59 of file darwin_simple_nav_alg.h.

double DarwinSimpleNavAlgorithm::max_linear_accel [protected]

Definition at line 60 of file darwin_simple_nav_alg.h.

double DarwinSimpleNavAlgorithm::max_linear_vel [protected]

Definition at line 58 of file darwin_simple_nav_alg.h.

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

• darwin_simple_nav_alg.h
• darwin_simple_nav_alg.cpp