#include <Rmp440LEInterface.h>
Inheritance diagram for segway::Rmp440LEInterface:
Public Member Functions | |
| float | GetMaximumTurnRate () |
| float | GetMaximumVelocity () |
| Rmp440LEInterface () | |
| virtual bool | SetVelocity (float normalizedVelocity, float normalizedYawRate) |
| virtual | ~Rmp440LEInterface () |
Detailed Description
This class represents an interface to a Segway RMP 440LE. It implements a method to process velocity command for vehicles that respond to standard motion commands.
Definition at line 50 of file Rmp440LEInterface.h.
Constructor & Destructor Documentation
Constructor
Definition at line 51 of file Rmp440LEInterface.cpp.
| segway::Rmp440LEInterface::~Rmp440LEInterface | ( | ) | [virtual] |
Destructor
Definition at line 56 of file Rmp440LEInterface.cpp.
Member Function Documentation
Get the maximum turn rate in [rad/s]
- Returns:
- maximum turn rate
Definition at line 83 of file Rmp440LEInterface.cpp.
Get the maximum velocity in [m/s]
- Returns:
- maximum velocity
Definition at line 78 of file Rmp440LEInterface.cpp.
| bool segway::Rmp440LEInterface::SetVelocity | ( | float | normalizedVelocity, |
| float | normalizedYawRate | ||
| ) | [virtual] |
Send velocity command
- Parameters:
-
normalizedVelocity normalized velocity [-1, 1] normalizedYawRate normalized yaw rate [-1, 1]
- Returns:
- wether the command was sent
- Exceptions:
-
std::logic_error if one or both of the velocity inputs is out of range std::runtime_error if the communication has not been initialized
Definition at line 60 of file Rmp440LEInterface.cpp.
The documentation for this class was generated from the following files: