PoseBasedVsAlgorithm Class Reference

IRI ROS Specific Driver Class. More...

#include <pose_based_vs_alg.h>

List of all members.

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

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Detailed Description

IRI ROS Specific Driver Class.

Definition at line 47 of file pose_based_vs_alg.h.

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Member Typedef Documentation

typedef iri_pose_based_vs::PoseBasedVsConfig PoseBasedVsAlgorithm::Config

define config type

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

Definition at line 82 of file pose_based_vs_alg.h.

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Constructor & Destructor Documentation

PoseBasedVsAlgorithm::PoseBasedVsAlgorithm

(

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 3 of file pose_based_vs_alg.cpp.

PoseBasedVsAlgorithm::~PoseBasedVsAlgorithm

(

void

)

Destructor.

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

Definition at line 7 of file pose_based_vs_alg.cpp.

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Member Function Documentation

void PoseBasedVsAlgorithm::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 11 of file pose_based_vs_alg.cpp.

void PoseBasedVsAlgorithm::lock

(

void

)

[inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 107 of file pose_based_vs_alg.h.

void PoseBasedVsAlgorithm::pose_vs	(	const std::vector< double > &	current_pose,
		const std::vector< double > &	desired_pose,
		const std::vector< double > &	kp,
		const std::vector< double > &	kd,
		const std::vector< double > &	ki,
		const double &	i_lim,
		const double &	dt,
		std::vector< double > &	cam_vel
	)

Main algorithm.

Pose Based Visual Servoing algorithm call.

Definition at line 22 of file pose_based_vs_alg.cpp.

bool PoseBasedVsAlgorithm::try_enter

(

void

)

[inline]

Tries Access to Algorithm.

Tries access to Algorithm

Returns:

true if the lock was adquired, false otherwise

Definition at line 123 of file pose_based_vs_alg.h.

void PoseBasedVsAlgorithm::unlock

(

void

)

[inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 114 of file pose_based_vs_alg.h.

double PoseBasedVsAlgorithm::updatePid	(	double	error,
		double	dt,
		double	i
	)

PID.

PID update.

Definition at line 54 of file pose_based_vs_alg.cpp.

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Member Data Documentation

CMutex PoseBasedVsAlgorithm::alg_mutex_ [protected]

define config type

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

Definition at line 56 of file pose_based_vs_alg.h.

std::vector<double> PoseBasedVsAlgorithm::cam_vel_ [protected]

Definition at line 60 of file pose_based_vs_alg.h.

double PoseBasedVsAlgorithm::cmd_ [protected]

Definition at line 73 of file pose_based_vs_alg.h.

Config PoseBasedVsAlgorithm::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 90 of file pose_based_vs_alg.h.

std::vector<double> PoseBasedVsAlgorithm::current_pose_ [protected]

Definition at line 60 of file pose_based_vs_alg.h.

std::vector<double> PoseBasedVsAlgorithm::d_error_ [protected]

Definition at line 68 of file pose_based_vs_alg.h.

std::vector<double> PoseBasedVsAlgorithm::desired_pose_ [protected]

Definition at line 60 of file pose_based_vs_alg.h.

double PoseBasedVsAlgorithm::dt_ [protected]

Definition at line 62 of file pose_based_vs_alg.h.

std::vector<double> PoseBasedVsAlgorithm::i_error_ [protected]

Definition at line 69 of file pose_based_vs_alg.h.

double PoseBasedVsAlgorithm::i_lim_ [protected]

Definition at line 63 of file pose_based_vs_alg.h.

std::vector<double> PoseBasedVsAlgorithm::kd_ [protected]

Definition at line 71 of file pose_based_vs_alg.h.

std::vector<double> PoseBasedVsAlgorithm::ki_ [protected]

Definition at line 72 of file pose_based_vs_alg.h.

std::vector<double> PoseBasedVsAlgorithm::kp_ [protected]

Definition at line 70 of file pose_based_vs_alg.h.

std::vector<double> PoseBasedVsAlgorithm::p_error_ [protected]

Definition at line 67 of file pose_based_vs_alg.h.

std::vector<double> PoseBasedVsAlgorithm::p_error_last_ [protected]

Definition at line 66 of file pose_based_vs_alg.h.

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

• pose_based_vs_alg.h
• pose_based_vs_alg.cpp