parameters.hpp
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00001 
00009 /*****************************************************************************
00010  ** Ifdefs
00011  *****************************************************************************/
00012 
00013 #ifndef KOBUKI_PARAMETERS_HPP_
00014 #define KOBUKI_PARAMETERS_HPP_
00015 
00016 /*****************************************************************************
00017  ** Includes
00018  *****************************************************************************/
00019 
00020 #include <string>
00021 #include "modules/battery.hpp"
00022 
00023 /*****************************************************************************
00024  ** Namespaces
00025  *****************************************************************************/
00026 
00027 namespace kobuki
00028 {
00029 
00030 /*****************************************************************************
00031  ** Interface
00032  *****************************************************************************/
00036 class Parameters
00037 {
00038 public:
00039   Parameters() :
00040     device_port("/dev/kobuki"),
00041     sigslots_namespace("/kobuki"),
00042     simulation(false),
00043     enable_acceleration_limiter(true),
00044     battery_capacity(Battery::capacity),
00045     battery_low(Battery::low),
00046     battery_dangerous(Battery::dangerous),
00047     linear_acceleration_limit(0.3),
00048     linear_deceleration_limit(-0.3*1.2),
00049     angular_acceleration_limit(3.5),
00050     angular_deceleration_limit(-3.5*1.2)
00051   {
00052   } 
00054   std::string device_port;         
00055   std::string sigslots_namespace;  
00056   bool simulation;                 
00057   bool enable_acceleration_limiter;
00058   double battery_capacity;          /* defaults defined in battery.cpp */
00059   double battery_low;                /* defaults defined in battery.cpp */
00060   double battery_dangerous;          /* defaults defined in battery.cpp */
00061 
00062   double linear_acceleration_limit;
00063   double linear_deceleration_limit;
00064   double angular_acceleration_limit;
00065   double angular_deceleration_limit;
00066 
00074   bool validate()
00075   {
00076     // not doing anything right now -  delete it, if we can find a use case ...
00077     return true;
00078   }
00079 
00080   std::string error_msg; 
00081 };
00082 
00083 } // namespace kobuki
00084 
00085 #endif /* KOBUKI_PARAMETERS_HPP_ */


kobuki_driver
Author(s): Daniel Stonier , Younghun Ju , Jorge Santos Simon
autogenerated on Thu Jun 6 2019 20:24:37