B21 Driver class B21 Driver - By David Lu!! 2/2010 Modified from Player code. More...

#include <b21_driver.h>

Inheritance diagram for B21:

Public Member Functions
	B21 ()
int	getBaseBumps (sensor_msgs::PointCloud *cloud) const
void	getBaseSonarPoints (sensor_msgs::PointCloud *cloud) const
void	getBaseSonarReadings (float *readings) const
float	getBearing ()
int	getBodyBumps (sensor_msgs::PointCloud *cloud) const
void	getBodySonarPoints (sensor_msgs::PointCloud *cloud) const
void	getBodySonarReadings (float *readings) const
float	getDistance ()
int	getNumBaseSonars () const
int	getNumBodySonars () const
float	getRotationalVelocity () const
float	getTranslationalVelocity () const
float	getVoltage () const
bool	isOdomReady () const
bool	isPluggedIn () const
void	processDioEvent (unsigned char address, unsigned short data)
void	setMovement (float tvel, float rvel, float acceleration)
void	setSonarPower (bool)
virtual	~B21 ()
Private Member Functions
	B21 (const B21 &b21)
	Private constructor - Don't use.
int	getBumps (const int index, sensor_msgs::PointCloud *cloud) const
void	getSonarPoints (const int ringi, sensor_msgs::PointCloud *cloud) const
void	getSonarReadings (const int ringi, float *readings) const
B21 &	operator= (const B21 &b21)
	Private constructor - Don't use.
Private Attributes
int **	bumps
int	first_distance
bool	found_distance
int	home_bearing
	Last home bearing (arbitrary units)

Detailed Description

B21 Driver class B21 Driver - By David Lu!! 2/2010 Modified from Player code.

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA

Definition at line 32 of file b21_driver.h.

Constructor & Destructor Documentation

B21::B21 ( )

Definition at line 30 of file b21_driver.cc.

B21::~B21 ( ) [virtual]

Definition at line 43 of file b21_driver.cc.

B21::B21 ( const B21 & b21 ) [private]

Private constructor - Don't use.

Member Function Documentation

int B21::getBaseBumps ( sensor_msgs::PointCloud * cloud ) const

Gets a point cloud for the bump sensors on the base

Parameters:

cloud Data structure into which the bump readings are saved

Returns:: number of active bump sensors

Definition at line 112 of file b21_driver.cc.

void B21::getBaseSonarPoints ( sensor_msgs::PointCloud * cloud ) const

Gets a point cloud for sonar readings from base

Parameters:

cloud Data structure into which the sonar readings are saved

Definition at line 104 of file b21_driver.cc.

void B21::getBaseSonarReadings ( float * readings ) const

Get readings from the sonar on the base of the B21 in meters

Parameters:

readings Data structure into which the sonar readings are saved

Definition at line 97 of file b21_driver.cc.

float B21::getBearing ( )

Definition at line 58 of file b21_driver.cc.

int B21::getBodyBumps ( sensor_msgs::PointCloud * cloud ) const

Gets a point cloud for the bump sensors on the body

Parameters:

cloud Data structure into which the bump readings are saved

Returns:: number of active bump sensors

Definition at line 108 of file b21_driver.cc.

void B21::getBodySonarPoints ( sensor_msgs::PointCloud * cloud ) const

Gets a point cloud for sonar readings from body

Parameters:

cloud Data structure into which the sonar readings are saved

Definition at line 101 of file b21_driver.cc.

void B21::getBodySonarReadings ( float * readings ) const

Get readings from the sonar on the body of the B21 in meters

Parameters:

readings Data structure into which the sonar readings are saved

Definition at line 93 of file b21_driver.cc.

int B21::getBumps	(	const int	index,
		sensor_msgs::PointCloud *	cloud
	)		const `[private]`

Parameters:

index	BODY_INDEX or BASE_INDEX
cloud	Data structure into which the bump sensors are saved

Returns:: number of active bump sensors

Definition at line 172 of file b21_driver.cc.

float B21::getDistance ( )

Definition at line 49 of file b21_driver.cc.

int B21::getNumBaseSonars ( ) const

Definition at line 89 of file b21_driver.cc.

int B21::getNumBodySonars ( ) const

Definition at line 85 of file b21_driver.cc.

float B21::getRotationalVelocity ( ) const

Definition at line 66 of file b21_driver.cc.

void B21::getSonarPoints	(	const int	ringi,
		sensor_msgs::PointCloud *	cloud
	)		const `[private]`

Parameters:

ringi	BODY_INDEX or BASE_INDEX
cloud	Data structure into which the sonar readings are saved

Definition at line 152 of file b21_driver.cc.

void B21::getSonarReadings	(	const int	ringi,
		float *	readings
	)		const `[private]`

Parameters:

ringi	BODY_INDEX or BASE_INDEX
readings	Data structure into which the sonar readings are saved

Definition at line 138 of file b21_driver.cc.

float B21::getTranslationalVelocity ( ) const

Definition at line 62 of file b21_driver.cc.

float B21::getVoltage ( ) const

Definition at line 70 of file b21_driver.cc.

bool B21::isOdomReady ( ) const [inline]

Detects whether the robot has all the necessary components to calculate odometry

Returns:: bool true if robot has read its distance, bearing and home bearing

Definition at line 88 of file b21_driver.h.

bool B21::isPluggedIn ( ) const

Definition at line 77 of file b21_driver.cc.

B21& B21::operator= ( const B21 & b21 ) [private]

Private constructor - Don't use.

void B21::processDioEvent	(	unsigned char	address,
		unsigned short	data
	)		`[virtual]`

Processes the DIO packets - called from RFflex Driver

Parameters:

address	origin
data	values

Reimplemented from RFLEX.

Definition at line 208 of file b21_driver.cc.

void B21::setMovement	(	float	tvel,
		float	rvel,
		float	acceleration
	)

Sets the motion of the robot

Parameters:

tvel	Translational velocity (in m/s)
rvel	Rotational velocity (in radian/s)
acceleration	Translational acceleration (in m/s/s)

Definition at line 130 of file b21_driver.cc.

void B21::setSonarPower ( bool on )

Definition at line 116 of file b21_driver.cc.

Member Data Documentation

int** B21::bumps [private]

Definition at line 109 of file b21_driver.h.

int B21::first_distance [private]

Definition at line 106 of file b21_driver.h.

bool B21::found_distance [private]

Definition at line 107 of file b21_driver.h.

int B21::home_bearing [private]

Last home bearing (arbitrary units)

Definition at line 108 of file b21_driver.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation