IRI ROS Specific Driver Class. More...

#include <artag_pose_based_vs_alg.h>

Public Types
typedef iri_artag_pose_based_vs::ArtagPoseBasedVsConfig	Config
	define config type
Public Member Functions
	ArtagPoseBasedVsAlgorithm (void)
	constructor
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
void	lock (void)
	Lock Algorithm.
void	pose_based_vs (const MatrixXd &desired_pose, const MatrixXd &current_pose, const double &dt, const MatrixXd &kp, const MatrixXd &kd, const MatrixXd &ki, const double &i_lim, MatrixXd &cam_vel)
	Main algorithm.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
double	updatePid (double &error, const double &dt, const double &i)
	PID.
	~ArtagPoseBasedVsAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
CPose_Based_Vs	pbvs
Protected Attributes
CMutex	alg_mutex_
	define config type
MatrixXd	cam_vel_
double	cmd_
MatrixXd	current_pose_
MatrixXd	d_error_
MatrixXd	desired_pose_
double	dt_
MatrixXd	i_error_
double	i_lim_
MatrixXd	kd_
MatrixXd	ki_
MatrixXd	kp_
MatrixXd	p_error_
MatrixXd	p_error_last_

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 50 of file artag_pose_based_vs_alg.h.

Member Typedef Documentation

typedef iri_artag_pose_based_vs::ArtagPoseBasedVsConfig ArtagPoseBasedVsAlgorithm::Config

define config type

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

Definition at line 87 of file artag_pose_based_vs_alg.h.

Constructor & Destructor Documentation

ArtagPoseBasedVsAlgorithm::ArtagPoseBasedVsAlgorithm ( 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 6 of file artag_pose_based_vs_alg.cpp.

ArtagPoseBasedVsAlgorithm::~ArtagPoseBasedVsAlgorithm ( void )

Destructor.

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

Definition at line 10 of file artag_pose_based_vs_alg.cpp.

Member Function Documentation

void ArtagPoseBasedVsAlgorithm::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 14 of file artag_pose_based_vs_alg.cpp.

void ArtagPoseBasedVsAlgorithm::lock ( void ) [inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 112 of file artag_pose_based_vs_alg.h.

void ArtagPoseBasedVsAlgorithm::pose_based_vs	(	const MatrixXd &	desired_pose,
		const MatrixXd &	current_pose,
		const double &	dt,
		const MatrixXd &	kp,
		const MatrixXd &	kd,
		const MatrixXd &	ki,
		const double &	i_lim,
		MatrixXd &	cam_vel
	)