Rmp440LEInterface.cpp
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00001 /*
00002   COPYRIGHT (c) 2014 SEGWAY Inc.
00003 
00004   Software License Agreement:
00005 
00006   The software supplied herewith by Segway Inc. (the "Company") for its 
00007   RMP Robotic Platforms is intended and supplied to you, the Company's 
00008   customer, for use solely and exclusively with Segway products. The 
00009   software is owned by the Company and/or its supplier, and is protected 
00010   under applicable copyright laws.  All rights are reserved. Any use in 
00011   violation of the foregoing restrictions may subject the user to criminal
00012   sanctions under applicable laws, as well as to civil liability for the 
00013   breach of the terms and conditions of this license. The Company may 
00014   immediately terminate this Agreement upon your use of the software with 
00015   any products that are not Segway products.
00016 
00017   You shall indemnify, defend and hold the Company harmless from any claims, 
00018   demands, liabilities or expenses, including reasonable attorneys fees, incurred 
00019   by the Company as a result of any claim or proceeding against the Company 
00020   arising out of or based upon: 
00021 
00022   (i) The combination, operation or use of the software by you with any hardware, 
00023       products, programs or data not supplied or approved in writing by the Company, 
00024       if such claim or proceeding would have been avoided but for such combination, 
00025       operation or use.
00026 
00027   (ii) The modification of the software by or on behalf of you.
00028 
00029   (iii) Your use of the software.
00030 
00031   THIS SOFTWARE IS PROVIDED IN AN "AS IS" CONDITION. NO WARRANTIES,
00032   WHETHER EXPRESS, IMPLIED, OR STATUTORY, INCLUDING, BUT NOT LIMITED
00033   TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
00034   PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. THE COMPANY SHALL NOT,
00035   IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL OR
00036   CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
00037 */
00038 
00039 #include <Rmp440LEInterface.h>
00040 
00041 #include <math.h>
00042 #include <stdexcept>
00043 #include <sstream>
00044 
00045 #include <RmpMessage.h>
00046 #include <RmpType.h>
00047 #include <RmpHelper.h>
00048 
00049 namespace segway
00050 {
00051   Rmp440LEInterface::Rmp440LEInterface()
00052     : RmpInterface()
00053   {
00054   }
00055 
00056   Rmp440LEInterface::~Rmp440LEInterface()
00057   {
00058   }
00059 
00060   bool Rmp440LEInterface::SetVelocity(float normalizedVelocity, float normalizedYawRate)
00061   {
00062     if ((fabs(normalizedVelocity) > 1) || (fabs(normalizedYawRate) > 1))
00063     {
00064       std::stringstream stringStream;
00065       stringStream << "Invalid velocity command. [" << normalizedVelocity << ", " << normalizedYawRate << "]. Should be within [-1, 1]";
00066           
00067       throw std::logic_error(stringStream.str());
00068     }
00069 
00070     if (m_pTransport == nullptr)
00071     {
00072       throw std::runtime_error(std::string("Initialize communication before calling any methods."));
00073     }
00074 
00075     return m_pTransport->Send(STANDARD_MOTION, ConvertFloatToUint32(normalizedVelocity), ConvertFloatToUint32(normalizedYawRate));
00076   }
00077 
00078   float Rmp440LEInterface::GetMaximumVelocity()
00079   {
00080     return GetUserDefinedFeedback<float>(FRAM_VEL_LIMIT_MPS);
00081   }
00082 
00083   float Rmp440LEInterface::GetMaximumTurnRate()
00084   {
00085     return GetUserDefinedFeedback<float>(FRAM_YAW_RATE_LIMIT_RPS);
00086   }
00087 } // namespace segway


rmp_base
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autogenerated on Wed Aug 26 2015 16:24:39