Public Member Functions
double	angularVelocity () const
	DiffDrive ()
void	getWheelJointStates (double &wheel_left_angle, double &wheel_left_angle_rate, double &wheel_right_angle, double &wheel_right_angle_rate)
const ecl::DifferentialDrive::Kinematics &	kinematics ()
double	linearVelocity () const
std::vector< double >	pointVelocity () const
void	reset (const double &current_heading)
void	setVelocityCommands (const double &vx, const double &wz)
void	update (const uint16_t &time_stamp, const uint16_t &left_encoder, const uint16_t &right_encoder, ecl::Pose2D< double > &pose_update, ecl::linear_algebra::Vector3d &pose_update_rates)
	Updates the odometry from firmware stamps and encoders.
void	velocityCommands (const double &vx, const double &wz)
void	velocityCommands (const short &cmd_speed, const short &cmd_radius)
void	velocityCommands (const std::vector< double > &cmd)
void	velocityCommands (const std::vector< short > &cmd)
std::vector< short >	velocityCommands ()
double	wheel_bias () const
Private Member Functions
short	bound (const double &value)
Private Attributes
double	bias
ecl::DifferentialDrive::Kinematics	diff_drive_kinematics
int	imu_heading_offset
double	last_diff_time
double	last_rad_left
double	last_rad_right
unsigned short	last_tick_left
unsigned short	last_tick_right
unsigned short	last_timestamp
double	last_velocity_left
double	last_velocity_right
std::vector< double >	point_velocity
double	radius
double	speed
ecl::Mutex	state_mutex
const double	tick_to_rad
ecl::Mutex	velocity_mutex
double	wheel_radius

Detailed Description

Definition at line 36 of file diff_drive.hpp.

Constructor & Destructor Documentation

kobuki::DiffDrive::DiffDrive ( )

Definition at line 25 of file diff_drive.cpp.

double kobuki::DiffDrive::angularVelocity ( ) const [inline]

Definition at line 60 of file diff_drive.hpp.

short kobuki::DiffDrive::bound ( const double & value ) [private]

Definition at line 183 of file diff_drive.cpp.

void kobuki::DiffDrive::getWheelJointStates	(	double &	wheel_left_angle,
		double &	wheel_left_angle_rate,
		double &	wheel_right_angle,
		double &	wheel_right_angle_rate
	)

Definition at line 116 of file diff_drive.cpp.

const ecl::DifferentialDrive::Kinematics& kobuki::DiffDrive::kinematics ( ) [inline]

Definition at line 39 of file diff_drive.hpp.

double kobuki::DiffDrive::linearVelocity ( ) const [inline]

Definition at line 59 of file diff_drive.hpp.

std::vector<double> kobuki::DiffDrive::pointVelocity ( ) const [inline]

Definition at line 61 of file diff_drive.hpp.

void kobuki::DiffDrive::reset ( const double & current_heading )

Definition at line 106 of file diff_drive.cpp.

void kobuki::DiffDrive::setVelocityCommands	(	const double &	vx,
		const double &	wz
	)

Definition at line 126 of file diff_drive.cpp.

void kobuki::DiffDrive::update	(	const uint16_t &	time_stamp,
		const uint16_t &	left_encoder,
		const uint16_t &	right_encoder,
		ecl::Pose2D< double > &	pose_update,
		ecl::linear_algebra::Vector3d &	pose_update_rates
	)