segwayrmp::SegwayStatus Class Reference

#include <segwayrmp.h>

List of all members.

Public Types
typedef boost::shared_ptr < SegwayStatus >	Ptr
Public Member Functions
	SegwayStatus ()
std::string	str ()
Public Attributes
float	commanded_velocity
float	commanded_yaw_rate
ControllerGainSchedule	controller_gain_schedule
float	integrated_forward_position
float	integrated_left_wheel_position
float	integrated_right_wheel_position
float	integrated_turn_position
float	left_motor_torque
float	left_wheel_speed
int	motor_status
OperationalMode	operational_mode
float	pitch
float	pitch_rate
float	powerbase_battery_voltage
float	right_motor_torque
float	right_wheel_speed
float	roll
float	roll_rate
float	servo_frames
SegwayTime	timestamp
bool	touched
float	ui_battery_voltage
float	yaw_rate

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Detailed Description

Contains Status Information returned by the Segway RMP.

Definition at line 276 of file segwayrmp.h.

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Member Typedef Documentation

typedef boost::shared_ptr<SegwayStatus> segwayrmp::SegwayStatus::Ptr

Definition at line 325 of file segwayrmp.h.

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Constructor & Destructor Documentation

SegwayStatus::SegwayStatus

(

)

Definition at line 142 of file segwayrmp.cc.

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Member Function Documentation

std::string SegwayStatus::str

(

)

Definition at line 154 of file segwayrmp.cc.

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Member Data Documentation

float segwayrmp::SegwayStatus::commanded_velocity

Current Commanded Velocity, meters/second.

Definition at line 313 of file segwayrmp.h.

float segwayrmp::SegwayStatus::commanded_yaw_rate

Current Commanded Angular Velocity in degrees/second.

Definition at line 315 of file segwayrmp.h.

ControllerGainSchedule segwayrmp::SegwayStatus::controller_gain_schedule

Current Controller Gain Schedule (balance mode only) one of {light, tall, heavy}.

Definition at line 311 of file segwayrmp.h.

float segwayrmp::SegwayStatus::integrated_forward_position

Integrated Forward/Aft Displacement in meters.

Definition at line 292 of file segwayrmp.h.

float segwayrmp::SegwayStatus::integrated_left_wheel_position

Integrated Left Wheel Position in meters.

Definition at line 288 of file segwayrmp.h.

float segwayrmp::SegwayStatus::integrated_right_wheel_position

Integrated Right Wheel Position in meters.

Definition at line 290 of file segwayrmp.h.

float segwayrmp::SegwayStatus::integrated_turn_position

Integrated Yaw Angle in degrees.

Definition at line 294 of file segwayrmp.h.

float segwayrmp::SegwayStatus::left_motor_torque

Current Left Motor Torque, Newton-meters.

Definition at line 296 of file segwayrmp.h.

float segwayrmp::SegwayStatus::left_wheel_speed

Current Left Wheel Velocity, meters/second.

Definition at line 283 of file segwayrmp.h.

int segwayrmp::SegwayStatus::motor_status

Current Motor Status one of {Enabled = 1, Emergency-Stopped = 0}.

Definition at line 317 of file segwayrmp.h.

OperationalMode segwayrmp::SegwayStatus::operational_mode

Current Operational Mode one of {disabled, tractor, balanced, power_down}.

Definition at line 306 of file segwayrmp.h.

float segwayrmp::SegwayStatus::pitch

Integrated Pitch in degrees.

Definition at line 279 of file segwayrmp.h.

float segwayrmp::SegwayStatus::pitch_rate

Current Pitch Aungular Velocity in degrees/second.

Definition at line 280 of file segwayrmp.h.

float segwayrmp::SegwayStatus::powerbase_battery_voltage

Current Powerbase Battery Voltage in Volts.

Definition at line 302 of file segwayrmp.h.

float segwayrmp::SegwayStatus::right_motor_torque

Current Right Motor Torque, Newton-meters.

Definition at line 298 of file segwayrmp.h.

float segwayrmp::SegwayStatus::right_wheel_speed

Current Right Wheel Velocity, meters/second.

Definition at line 284 of file segwayrmp.h.

float segwayrmp::SegwayStatus::roll

Integrated Roll in degrees.

Definition at line 281 of file segwayrmp.h.

float segwayrmp::SegwayStatus::roll_rate

Current Roll Angular Velocity, degrees/second.

Definition at line 282 of file segwayrmp.h.

float segwayrmp::SegwayStatus::servo_frames

Current Servo Time in seconds (0.01s intervals).

Definition at line 286 of file segwayrmp.h.

SegwayTime segwayrmp::SegwayStatus::timestamp

Time that this data was received.

Definition at line 278 of file segwayrmp.h.

bool segwayrmp::SegwayStatus::touched

For Testing Only.

Definition at line 319 of file segwayrmp.h.

float segwayrmp::SegwayStatus::ui_battery_voltage

Current UI Battery Voltage in Volts.

Definition at line 300 of file segwayrmp.h.

float segwayrmp::SegwayStatus::yaw_rate

Current Yaw Angular Velocity, degrees/second.

Definition at line 285 of file segwayrmp.h.

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

• segwayrmp.h
• segwayrmp.cc