IRI ROS Specific Driver Class. More...

#include <darwin_robot_driver.h>

Inheritance diagram for DarwinRobotDriver:

Public Types
typedef iri_darwin_robot::DarwinRobotConfig	Config
	define config type
Public Member Functions
bool	action_is_running (void)
void	break_action (void)
bool	closeDriver (void)
	close driver
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
	DarwinRobotDriver (void)
	constructor
void	get_accelerometer (double x, double y, double *z)
void	get_analog_channel (analogs id, double *value)
std::vector< double >	get_current_angles (void)
void	get_gyroscope (double x, double y, double *z)
void	get_head_position (double pan, double tilt)
void	get_tracking_pid (int t, TPID pan_pid, TPID *tilt_pid)
void	get_tracking_target (double pan, double tilt)
double	get_walking_param (motion_params param)
bool	is_walking (void)
bool	joints_are_moving (std::string &target_id)
std::string	move_joints (std::vector< int > &servos, std::vector< double > &angles, std::vector< double > &speeds, std::vector< double > &accels, const std::string &target_id=std::string(""))
bool	openDriver (void)
	open driver
void	set_head_position (double pan, double tilt)
void	set_tracking_pid (int t, TPID pan_pid, TPID tilt_pid)
void	set_tracking_target (double pan, double tilt)
void	set_walking_param (motion_params param, double value)
void	start_action (unsigned int action_index)
void	start_action (std::string &action_name)
void	start_head_tracking (void)
void	start_walking (double x_dist, double y_dist, double turn_angle)
bool	startDriver (void)
	start driver
void	stop_action (void)
void	stop_head_tracking (void)
void	stop_joints (std::string &target_id)
void	stop_walking (void)
bool	stopDriver (void)
	stop driver
void	tune_walking (double x_dist, double y_dist, double turn_angle)
	~DarwinRobotDriver (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Private Attributes
std::string	action_file
std::string	CM730_device
std::string	config_file
CDarwin *	robot

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Base class IriBaseDriver, which provides the guidelines to implement any specific driver. The IriBaseDriver class offers an easy framework to integrate functional drivers implemented in C++ with the ROS driver structure. ROS driver_base state transitions are already managed by IriBaseDriver.

The DarwinNodeDriver class must implement all specific driver requirements to safetely open, close, run and stop the driver at any time. It also must guarantee an accessible interface for all driver's parameters.

The DarwinNodeConfig.cfg needs to be filled up with those parameters suitable to be changed dynamically by the ROS dyanmic reconfigure application. The implementation of the CIriNode class will manage those parameters through methods like postNodeOpenHook() and reconfigureNodeHook().

Definition at line 54 of file darwin_robot_driver.h.

Member Typedef Documentation

typedef iri_darwin_robot::DarwinRobotConfig DarwinRobotDriver::Config

define config type

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

Definition at line 72 of file darwin_robot_driver.h.

Constructor & Destructor Documentation

DarwinRobotDriver::DarwinRobotDriver ( 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 4 of file darwin_robot_driver.cpp.

DarwinRobotDriver::~DarwinRobotDriver ( void )

Destructor.

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

Definition at line 236 of file darwin_robot_driver.cpp.

Member Function Documentation

bool DarwinRobotDriver::action_is_running ( void )

Definition at line 157 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::break_action ( void )

Definition at line 152 of file darwin_robot_driver.cpp.

bool DarwinRobotDriver::closeDriver ( void ) [virtual]

close driver

In this function, the driver must be closed. Variables related to the driver state must also be taken into account. This function is automatically called by IriBaseDriver::doClose(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 32 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::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 56 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::get_accelerometer	(	double *	x,
		double *	y,
		double *	z
	)

Definition at line 179 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::get_analog_channel	(	analogs	id,
		double *	value
	)

Definition at line 184 of file darwin_robot_driver.cpp.

std::vector< double > DarwinRobotDriver::get_current_angles ( void )

Definition at line 100 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::get_gyroscope	(	double *	x,
		double *	y,
		double *	z
	)

Definition at line 174 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::get_head_position	(	double *	pan,
		double *	tilt
	)

Definition at line 163 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::get_tracking_pid	(	int *	t,
		TPID *	pan_pid,
		TPID *	tilt_pid
	)

Definition at line 221 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::get_tracking_target	(	double *	pan,
		double *	tilt
	)

Definition at line 231 of file darwin_robot_driver.cpp.

double DarwinRobotDriver::get_walking_param ( motion_params param )

Definition at line 121 of file darwin_robot_driver.cpp.

bool DarwinRobotDriver::is_walking ( void )

Definition at line 131 of file darwin_robot_driver.cpp.

bool DarwinRobotDriver::joints_are_moving ( std::string & target_id )

Definition at line 195 of file darwin_robot_driver.cpp.

std::string DarwinRobotDriver::move_joints	(	std::vector< int > &	servos,
		std::vector< double > &	angles,
		std::vector< double > &	speeds,
		std::vector< double > &	accels,
		const std::string &	target_id = `std::string("")`
	)

Definition at line 190 of file darwin_robot_driver.cpp.

bool DarwinRobotDriver::openDriver ( void ) [virtual]

open driver

In this function, the driver must be openned. Openning errors must be taken into account. This function is automatically called by IriBaseDriver::doOpen(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 14 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::set_head_position	(	double	pan,
		double	tilt
	)

Definition at line 168 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::set_tracking_pid	(	int	t,
		TPID *	pan_pid,
		TPID *	tilt_pid
	)

Definition at line 216 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::set_tracking_target	(	double	pan,
		double	tilt
	)

Definition at line 226 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::set_walking_param	(	motion_params	param,
		double	value
	)

Definition at line 116 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::start_action ( unsigned int action_index )

Definition at line 137 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::start_action ( std::string & action_name )

Definition at line 142 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::start_head_tracking ( void )

Definition at line 206 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::start_walking	(	double	x_dist,
		double	y_dist,
		double	turn_angle
	)

Definition at line 106 of file darwin_robot_driver.cpp.

bool DarwinRobotDriver::startDriver ( void ) [virtual]

start driver

After this function, the driver and its thread will be started. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStart(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 46 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::stop_action ( void )

Definition at line 147 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::stop_head_tracking ( void )

Definition at line 211 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::stop_joints ( std::string & target_id )

Definition at line 200 of file darwin_robot_driver.cpp.

void DarwinRobotDriver::stop_walking ( void )

Definition at line 126 of file darwin_robot_driver.cpp.

bool DarwinRobotDriver::stopDriver ( void ) [virtual]

stop driver

After this function, the driver's thread will stop its execution. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStop(), an state transition is performed if return value equals true.