#include <cm_740_module.h>

Inheritance diagram for robotis_op::CM740Module:

Public Member Functions
	CM740Module ()

void	initialize (const int control_cycle_msec, robotis_framework::Robot *robot)

void	process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, robotis_framework::Sensor * > sensors)

virtual	~CM740Module ()

Public Member Functions inherited from robotis_framework::SensorModule
std::string	getModuleName ()

virtual	~SensorModule ()

Private Member Functions
void	fusionIMU ()

double	getAccValue (int raw_value)

double	getGyroValue (int raw_value)

void	handleButton (const std::string &button_name)

void	handleVoltage (double present_volt)

double	lowPassFilter (double alpha, double x_new, double x_old)

void	publishButtonMsg (const std::string &button_name)

void	publishStatusMsg (unsigned int type, std::string msg)

void	queueThread ()

Private Attributes
ros::Time	button_press_time_

ros::Publisher	button_pub_

std::map< std::string, bool >	buttons_

std::map< std::string, ros::Time >	buttons_press_time_

int	control_cycle_msec_

const bool	DEBUG_PRINT

const double	G_ACC = 9.80665

sensor_msgs::Imu	imu_msg_

ros::Publisher	imu_pub_

ros::Time	last_msg_time_

double	present_volt_

double	previous_volt_

boost::thread	queue_thread_

ros::Publisher	status_msg_pub_

Additional Inherited Members
Static Public Member Functions inherited from robotis_framework::Singleton< CM740Module >
static void	destroyInstance ()

static T *	getInstance ()

Public Attributes inherited from robotis_framework::SensorModule
std::map< std::string, double >	result_

Protected Member Functions inherited from robotis_framework::Singleton< CM740Module >
Singleton &	operator= (Singleton const &)

	Singleton (Singleton const &)

	Singleton ()

Protected Attributes inherited from robotis_framework::SensorModule
std::string	module_name_

Detailed Description

Definition at line 37 of file cm_740_module.h.

Constructor & Destructor Documentation

robotis_op::CM740Module::CM740Module ( )

Definition at line 25 of file cm_740_module.cpp.

robotis_op::CM740Module::~CM740Module ( )

virtual

Definition at line 52 of file cm_740_module.cpp.

Member Function Documentation

void robotis_op::CM740Module::fusionIMU ( )

private

Definition at line 134 of file cm_740_module.cpp.

double robotis_op::CM740Module::getAccValue ( int raw_value )

private

Definition at line 129 of file cm_740_module.cpp.

double robotis_op::CM740Module::getGyroValue ( int raw_value )

private

Definition at line 123 of file cm_740_module.cpp.

void robotis_op::CM740Module::handleButton ( const std::string & button_name )

private

Definition at line 176 of file cm_740_module.cpp.

void robotis_op::CM740Module::handleVoltage ( double present_volt )

private

Definition at line 228 of file cm_740_module.cpp.

void robotis_op::CM740Module::initialize	(	const int	control_cycle_msec,
		robotis_framework::Robot *	robot
	)

virtual

Implements robotis_framework::SensorModule.

Definition at line 57 of file cm_740_module.cpp.

double robotis_op::CM740Module::lowPassFilter	(	double	alpha,
		double	x_new,
		double	x_old
	)

private

Definition at line 266 of file cm_740_module.cpp.

void robotis_op::CM740Module::process	(	std::map< std::string, robotis_framework::Dynamixel * >	dxls,
		std::map< std::string, robotis_framework::Sensor * >	sensors
	)

virtual

Implements robotis_framework::SensorModule.

Definition at line 80 of file cm_740_module.cpp.

void robotis_op::CM740Module::publishButtonMsg ( const std::string & button_name )

private

Definition at line 219 of file cm_740_module.cpp.

void robotis_op::CM740Module::publishStatusMsg	(	unsigned int	type,
		std::string	msg
	)

private

Definition at line 255 of file cm_740_module.cpp.

void robotis_op::CM740Module::queueThread ( )

private

Definition at line 63 of file cm_740_module.cpp.

Member Data Documentation

ros::Time robotis_op::CM740Module::button_press_time_

private

Definition at line 68 of file cm_740_module.h.

ros::Publisher robotis_op::CM740Module::button_pub_

private

Definition at line 77 of file cm_740_module.h.

std::map<std::string, bool> robotis_op::CM740Module::buttons_

private

Definition at line 66 of file cm_740_module.h.

std::map<std::string, ros::Time> robotis_op::CM740Module::buttons_press_time_

private

Definition at line 67 of file cm_740_module.h.

int robotis_op::CM740Module::control_cycle_msec_

private

Definition at line 64 of file cm_740_module.h.

const bool robotis_op::CM740Module::DEBUG_PRINT

private

Definition at line 49 of file cm_740_module.h.

const double robotis_op::CM740Module::G_ACC = 9.80665

private

Definition at line 50 of file cm_740_module.h.

sensor_msgs::Imu robotis_op::CM740Module::imu_msg_

private

Definition at line 73 of file cm_740_module.h.

ros::Publisher robotis_op::CM740Module::imu_pub_

private

Definition at line 76 of file cm_740_module.h.

ros::Time robotis_op::CM740Module::last_msg_time_

private

Definition at line 69 of file cm_740_module.h.

double robotis_op::CM740Module::present_volt_

private

Definition at line 71 of file cm_740_module.h.

double robotis_op::CM740Module::previous_volt_

private

Definition at line 70 of file cm_740_module.h.

boost::thread robotis_op::CM740Module::queue_thread_

private

Definition at line 65 of file cm_740_module.h.

ros::Publisher robotis_op::CM740Module::status_msg_pub_

private

Definition at line 78 of file cm_740_module.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation