clearpath::DataDifferentialControl Class Reference

#include <Message_data.h>

Inheritance diagram for clearpath::DataDifferentialControl:

Public Types
enum	payloadOffsets {   LEFT_P = 0, LEFT_I = 2, LEFT_D = 4, LEFT_FEEDFWD = 6,   LEFT_STIC = 8, LEFT_INT_LIM = 10, RIGHT_P = 12, RIGHT_I = 14,   RIGHT_D = 16, RIGHT_FEEDFWD = 18, RIGHT_STIC = 20, RIGHT_INT_LIM = 22,   PAYLOAD_LEN = 24 }

Public Member Functions
	DataDifferentialControl (void *input, size_t msg_len)
	DataDifferentialControl (const DataDifferentialControl &other)
double	getLeftD ()
double	getLeftFeedForward ()
double	getLeftI ()
double	getLeftIntegralLimit ()
double	getLeftP ()
double	getLeftStiction ()
double	getRightD ()
double	getRightFeedForward ()
double	getRightI ()
double	getRightIntegralLimit ()
double	getRightP ()
double	getRightStiction ()
virtual std::ostream &	printMessage (std::ostream &stream=std::cout)
Public Member Functions inherited from clearpath::Message
uint16_t	getChecksum ()
uint8_t	getFlags ()
uint8_t	getLength ()
uint8_t	getLengthComp ()
size_t	getPayload (void *buf, size_t max_size)
size_t	getPayloadLength ()
uint32_t	getTimestamp ()
size_t	getTotalLength ()
uint16_t	getType ()
uint8_t	getVersion ()
bool	isCommand ()
bool	isData ()
bool	isRequest ()
bool	isValid (char *whyNot=NULL, size_t strLen=0)
	Message ()
	Message (void *input, size_t msg_len)
	Message (const Message &other)
	Message (uint16_t type, uint8_t *payload, size_t payload_len, uint32_t timestamp=0, uint8_t flags=0, uint8_t version=0)
void	printRaw (std::ostream &stream=std::cout)
void	send ()
size_t	toBytes (void *buf, size_t buf_size)
virtual	~Message ()

Static Public Member Functions
static enum MessageTypes	getTypeID ()
static DataDifferentialControl *	getUpdate (double timeout=0)
static DataDifferentialControl *	popNext ()
static void	subscribe (uint16_t freq=0)
static DataDifferentialControl *	waitNext (double timeout=0)
Static Public Member Functions inherited from clearpath::Message
static Message *	factory (void *input, size_t msg_len)
static Message *	popNext ()
static Message *	waitNext (double timeout=0.0)

Additional Inherited Members
Static Public Attributes inherited from clearpath::Message
static const size_t	MAX_MSG_LENGTH = 256
static const size_t	MIN_MSG_LENGTH = HEADER_LENGTH + CRC_LENGTH
static const uint8_t	SOH = 0xAA
static const uint8_t	STX = 0x55
Protected Types inherited from clearpath::Message
enum	dataOffsets {   SOH_OFST = 0, LENGTH_OFST, LENGTH_COMP_OFST, VERSION_OFST,   TIMESTAMP_OFST, FLAGS_OFST = 8, TYPE_OFST, STX_OFST = 11,   PAYLOAD_OFST }
Protected Member Functions inherited from clearpath::Message
size_t	crcOffset ()
uint8_t *	getPayloadPointer (size_t offset=0)
void	makeValid ()
void	setFlags (uint8_t flags)
void	setLength (uint8_t len)
void	setPayload (void *buf, size_t buf_size)
void	setPayloadLength (uint8_t len)
void	setTimestamp (uint32_t timestamp)
void	setType (uint16_t type)
void	setVersion (uint8_t version)
Protected Attributes inherited from clearpath::Message
uint8_t	data [MAX_MSG_LENGTH]
bool	is_sent
size_t	total_len
Static Protected Attributes inherited from clearpath::Message
static const uint16_t	CRC_INIT_VAL = 0xFFFF
static const size_t	CRC_LENGTH = 2
static const size_t	HEADER_LENGTH = 12

Detailed Description

Definition at line 93 of file Message_data.h.

Member Enumeration Documentation

enum clearpath::DataDifferentialControl::payloadOffsets

Enumerator
LEFT_P
LEFT_I
LEFT_D
LEFT_FEEDFWD
LEFT_STIC
LEFT_INT_LIM
RIGHT_P
RIGHT_I
RIGHT_D
RIGHT_FEEDFWD
RIGHT_STIC
RIGHT_INT_LIM
PAYLOAD_LEN

Definition at line 96 of file Message_data.h.

Constructor & Destructor Documentation

clearpath::DataDifferentialControl::DataDifferentialControl	(	void *	input,
		size_t	msg_len
	)

clearpath::DataDifferentialControl::DataDifferentialControl

(

const DataDifferentialControl &

other

)

Member Function Documentation

double clearpath::DataDifferentialControl::getLeftD

(

)

Definition at line 110 of file Message_data.cpp.

double clearpath::DataDifferentialControl::getLeftFeedForward

(

)

Definition at line 115 of file Message_data.cpp.

double clearpath::DataDifferentialControl::getLeftI

(

)

Definition at line 105 of file Message_data.cpp.

double clearpath::DataDifferentialControl::getLeftIntegralLimit

(

)

Definition at line 125 of file Message_data.cpp.

double clearpath::DataDifferentialControl::getLeftP

(

)

Definition at line 100 of file Message_data.cpp.

double clearpath::DataDifferentialControl::getLeftStiction

(

)

Definition at line 120 of file Message_data.cpp.

double clearpath::DataDifferentialControl::getRightD

(

)

Definition at line 140 of file Message_data.cpp.

double clearpath::DataDifferentialControl::getRightFeedForward

(

)

Definition at line 145 of file Message_data.cpp.

double clearpath::DataDifferentialControl::getRightI

(

)

Definition at line 135 of file Message_data.cpp.

double clearpath::DataDifferentialControl::getRightIntegralLimit

(

)

Definition at line 155 of file Message_data.cpp.

double clearpath::DataDifferentialControl::getRightP

(

)

Definition at line 130 of file Message_data.cpp.

double clearpath::DataDifferentialControl::getRightStiction

(

)

Definition at line 150 of file Message_data.cpp.

static enum MessageTypes clearpath::DataDifferentialControl::getTypeID ( )

static

static DataDifferentialControl* clearpath::DataDifferentialControl::getUpdate ( double  timeout = 0 )

static

static DataDifferentialControl* clearpath::DataDifferentialControl::popNext ( )

static

ostream & clearpath::DataDifferentialControl::printMessage ( std::ostream &  stream = std::cout )

virtual

Reimplemented from clearpath::Message.

Definition at line 160 of file Message_data.cpp.

static void clearpath::DataDifferentialControl::subscribe ( uint16_t  freq = 0 )

static

static DataDifferentialControl* clearpath::DataDifferentialControl::waitNext ( double  timeout = 0 )

static

---

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

• Message_data.h
• Message_data.cpp