#include <CanListener.h>

Public Member Functions
	CanListener (RobotState *state)
double	get_velocity_left ()
double	get_velocity_right ()
void	run ()
Public Attributes
struct can_frame	frame
Private Member Functions
double	calculateAverage (double velocity_average[], double velocity)
nav_msgs::Odometry	getOdomMsg (ros::Time current_time)
geometry_msgs::TransformStamped	getOdomTF (ros::Time current_time)
bool	gettingData ()
void	initalize ()
void	movingForward (double d, double d_time)
void	otherMovement (double d, double t, double d_time)
int	overflowDetection (int ticks, int ticks_old)
void	turningInPlace (double t, double d_time)
Private Attributes
int	average_size
int	counter
double	impulses_per_mm_left
double	impulses_per_mm_right
double	left_average
double	left_velocity_average [50]
double	right_average
double	right_velocity_average [50]
RobotState *	state
double	wheel_distance

Detailed Description

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 3 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, see <http://www.gnu.org/licenses/>. Gets velocity information from Can and publish them on ROS as odom information.

Definition at line 28 of file CanListener.h.

Constructor & Destructor Documentation

CanListener::CanListener ( RobotState * state ) [inline]

Definition at line 84 of file CanListener.h.

Member Function Documentation

double CanListener::calculateAverage	(	double	velocity_average[],
		double	velocity
	)		`[private]`

Calculate average velocity over the last average_size velocities.

Definition at line 183 of file CanListener.cpp.

double CanListener::get_velocity_left ( )

Definition at line 318 of file CanListener.cpp.

double CanListener::get_velocity_right ( )

Return the velocity of the wheels, by an average (average_size).

Definition at line 314 of file CanListener.cpp.

nav_msgs::Odometry CanListener::getOdomMsg ( ros::Time current_time ) [private]

Create the odom message, which get published.

Definition at line 70 of file CanListener.cpp.

geometry_msgs::TransformStamped CanListener::getOdomTF ( ros::Time current_time ) [private]

Get the how the actual odom positin is transformed to origin.

Definition at line 49 of file CanListener.cpp.

bool CanListener::gettingData ( ) [private]

Return true if data from Can is received.

Definition at line 97 of file CanListener.cpp.

void CanListener::initalize ( ) [private]

Initalize global paramter.

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 3 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, see <http://www.gnu.org/licenses/>.

Definition at line 33 of file CanListener.cpp.