#include <dock_drive.hpp>

Public Member Functions
bool	canRun () const

void	disable ()

	DockDrive ()

void	enable ()

std::string	getDebugStr () const

std::string	getDebugStream ()

RobotDockingState::State	getState () const

std::string	getStateStr () const

double	getVX () const

double	getWZ () const

bool	init ()

bool	isEnabled () const

void	modeShift (const std::string &mode)

void	setMinAbsV (double mav)

void	setMinAbsW (double maw)

void	update (const std::vector< unsigned char > &signal, const unsigned char &bumper, const unsigned char &charger, const ecl::LegacyPose2D< double > &pose)
	Updates the odometry from firmware stamps and encoders. More...

void	velocityCommands (const double &vx, const double &wz)

	~DockDrive ()

Protected Member Functions
void	aligned (RobotDockingState::State &state, double &vx, double &wz, const std::vector< unsigned char > &signal_filt, std::string &debug_str)

void	bumped (RobotDockingState::State &nstate, double &nvx, double &nwz, int &bump_count)

void	computePoseUpdate (ecl::LegacyPose2D< double > &pose_update, const ecl::LegacyPose2D< double > &pose)
	compute pose update from previouse pose and current pose More...

RobotDockingState::State	determineRobotLocation (const std::vector< unsigned char > &signal_filt, const unsigned char &charger)

void	filterIRSensor (std::vector< unsigned char > &signal_filt, const std::vector< unsigned char > &signal)

void	find_stream (RobotDockingState::State &state, double &vx, double &wz, const std::vector< unsigned char > &signal_filt)

void	generateDebugMessage (const std::vector< unsigned char > &signal_filt, const unsigned char &bumper, const unsigned char &charger, const ecl::LegacyPose2D< double > &pose_update, const std::string &debug_str)

void	get_stream (RobotDockingState::State &state, double &vx, double &wz, const std::vector< unsigned char > &signal_filt)

void	idle (RobotDockingState::State &state, double &vx, double &wz)

void	processBumpChargeEvent (const unsigned char &bumper, const unsigned char &charger)

void	scan (RobotDockingState::State &state, double &vx, double &wz, const std::vector< unsigned char > &signal_filt, const ecl::LegacyPose2D< double > &pose_update, std::string &debug_str)

void	updateVelocity (const std::vector< unsigned char > &signal_filt, const ecl::LegacyPose2D< double > &pose_update, std::string &debug_str)

bool	validateSignal (const std::vector< unsigned char > &signal_filt, const unsigned int state)

Private Member Functions
std::string	binary (unsigned char number) const

void	setVel (double v, double w)

Private Attributes
int	bump_remainder

bool	can_run

std::string	debug_output

std::string	debug_str

int	dock_detector

int	dock_stabilizer

bool	is_enabled

double	min_abs_v

double	min_abs_w

std::vector< std::vector< unsigned char > >	past_signals

ecl::LegacyPose2D< double >	pose_priv

std::vector< std::string >	ROBOT_STATE_STR

double	rotated

unsigned int	signal_window

RobotDockingState::State	state

std::string	state_str

double	vx

double	wz

Detailed Description

Definition at line 66 of file dock_drive.hpp.

Constructor & Destructor Documentation

kobuki::DockDrive::DockDrive ( )

Definition at line 58 of file dock_drive.cpp.

kobuki::DockDrive::~DockDrive ( )

Definition at line 88 of file dock_drive.cpp.

Member Function Documentation

void kobuki::DockDrive::aligned	(	RobotDockingState::State &	state,
		double &	vx,
		double &	wz,
		const std::vector< unsigned char > &	signal_filt,
		std::string &	debug_str
	)

protected

Definition at line 246 of file dock_drive_states.cpp.

std::string kobuki::DockDrive::binary ( unsigned char number ) const

private

Definition at line 100 of file dock_drive_debug.cpp.

void kobuki::DockDrive::bumped	(	RobotDockingState::State &	nstate,
		double &	nvx,
		double &	nwz,
		int &	bump_count
	)

protected

Definition at line 317 of file dock_drive_states.cpp.

bool kobuki::DockDrive::canRun ( ) const

inline

Definition at line 73 of file dock_drive.hpp.

void kobuki::DockDrive::computePoseUpdate	(	ecl::LegacyPose2D< double > &	pose_update,
		const ecl::LegacyPose2D< double > &	pose
	)

protected

compute pose update from previouse pose and current pose

Parameters

pose	update. this variable get filled after this function
pose	- current pose

Definition at line 149 of file dock_drive.cpp.

RobotDockingState::State kobuki::DockDrive::determineRobotLocation	(	const std::vector< unsigned char > &	signal_filt,
		const unsigned char &	charger
	)

protected

void kobuki::DockDrive::disable ( )

inline

Definition at line 76 of file dock_drive.hpp.

void kobuki::DockDrive::enable ( )

inline

Definition at line 75 of file dock_drive.hpp.

void kobuki::DockDrive::filterIRSensor	(	std::vector< unsigned char > &	signal_filt,
		const std::vector< unsigned char > &	signal
	)

protected

pushing into signal into signal window. and go through the signal window to find what has detected

Parameters

signal_filt	- this get filled out after the function.
signal	- the raw data from robot

Definition at line 168 of file dock_drive.cpp.

void kobuki::DockDrive::find_stream	(	RobotDockingState::State &	state,
		double &	vx,
		double &	wz,
		const std::vector< unsigned char > &	signal_filt
	)

protected

Definition at line 145 of file dock_drive_states.cpp.

void kobuki::DockDrive::generateDebugMessage	(	const std::vector< unsigned char > &	signal_filt,
		const unsigned char &	bumper,
		const unsigned char &	charger,
		const ecl::LegacyPose2D< double > &	pose_update,
		const std::string &	debug_str
	)

protected

Definition at line 48 of file dock_drive_debug.cpp.

void kobuki::DockDrive::get_stream	(	RobotDockingState::State &	state,
		double &	vx,
		double &	wz,
		const std::vector< unsigned char > &	signal_filt
	)

protected

Definition at line 195 of file dock_drive_states.cpp.

std::string kobuki::DockDrive::getDebugStr ( ) const

inline

Definition at line 97 of file dock_drive.hpp.

std::string kobuki::DockDrive::getDebugStream ( )

inline

Definition at line 106 of file dock_drive.hpp.

RobotDockingState::State kobuki::DockDrive::getState ( ) const

inline

Definition at line 95 of file dock_drive.hpp.

std::string kobuki::DockDrive::getStateStr ( ) const

inline

Definition at line 96 of file dock_drive.hpp.

double kobuki::DockDrive::getVX ( ) const

inline

Definition at line 89 of file dock_drive.hpp.

double kobuki::DockDrive::getWZ ( ) const

inline

Definition at line 90 of file dock_drive.hpp.

void kobuki::DockDrive::idle	(	RobotDockingState::State &	state,
		double &	vx,
		double &	wz
	)

protected

Definition at line 61 of file dock_drive_states.cpp.

bool kobuki::DockDrive::init ( )

inline

Definition at line 71 of file dock_drive.hpp.

bool kobuki::DockDrive::isEnabled ( ) const

inline

Definition at line 72 of file dock_drive.hpp.

void kobuki::DockDrive::modeShift ( const std::string & mode )

Definition at line 96 of file dock_drive.cpp.

void kobuki::DockDrive::processBumpChargeEvent	(	const unsigned char &	bumper,
		const unsigned char &	charger
	)

protected

Definition at line 199 of file dock_drive.cpp.

void kobuki::DockDrive::scan	(	RobotDockingState::State &	state,
		double &	vx,
		double &	wz,
		const std::vector< unsigned char > &	signal_filt,
		const ecl::LegacyPose2D< double > &	pose_update,
		std::string &	debug_str
	)

protected

Definition at line 78 of file dock_drive_states.cpp.

void kobuki::DockDrive::setMinAbsV ( double mav )

inline

Definition at line 102 of file dock_drive.hpp.

void kobuki::DockDrive::setMinAbsW ( double maw )

inline

Definition at line 103 of file dock_drive.hpp.

void kobuki::DockDrive::setVel	(	double	v,
		double	w
	)

private

Definition at line 90 of file dock_drive.cpp.

void kobuki::DockDrive::update	(	const std::vector< unsigned char > &	signal,
		const unsigned char &	bumper,
		const unsigned char &	charger,
		const ecl::LegacyPose2D< double > &	pose
	)

Updates the odometry from firmware stamps and encoders.

Really horrible - could do with an overhaul.

Parameters

dock_ir	signal
bumper	sensor
charger	sensor
current	pose

Definition at line 115 of file dock_drive.cpp.

void kobuki::DockDrive::updateVelocity	(	const std::vector< unsigned char > &	signal_filt,
		const ecl::LegacyPose2D< double > &	pose_update,
		std::string &	debug_str
	)

protected

Definition at line 239 of file dock_drive.cpp.

bool kobuki::DockDrive::validateSignal	(	const std::vector< unsigned char > &	signal_filt,
		const unsigned int	state
	)

protected

Definition at line 289 of file dock_drive.cpp.

void kobuki::DockDrive::velocityCommands	(	const double &	vx,
		const double &	wz
	)

Definition at line 185 of file dock_drive.cpp.

Member Data Documentation

int kobuki::DockDrive::bump_remainder

private

Definition at line 139 of file dock_drive.hpp.

bool kobuki::DockDrive::can_run

private

Definition at line 132 of file dock_drive.hpp.

std::string kobuki::DockDrive::debug_output

private

Definition at line 151 of file dock_drive.hpp.

std::string kobuki::DockDrive::debug_str

private

Definition at line 135 of file dock_drive.hpp.

int kobuki::DockDrive::dock_detector

private

Definition at line 141 of file dock_drive.hpp.

int kobuki::DockDrive::dock_stabilizer

private

Definition at line 140 of file dock_drive.hpp.

bool kobuki::DockDrive::is_enabled

private

Definition at line 132 of file dock_drive.hpp.

double kobuki::DockDrive::min_abs_v

private

Definition at line 143 of file dock_drive.hpp.

double kobuki::DockDrive::min_abs_w

private

Definition at line 144 of file dock_drive.hpp.

std::vector<std::vector<unsigned char> > kobuki::DockDrive::past_signals

private

Definition at line 137 of file dock_drive.hpp.

ecl::LegacyPose2D<double> kobuki::DockDrive::pose_priv

private

Definition at line 145 of file dock_drive.hpp.

std::vector<std::string> kobuki::DockDrive::ROBOT_STATE_STR

private

Definition at line 152 of file dock_drive.hpp.

double kobuki::DockDrive::rotated

private

Definition at line 142 of file dock_drive.hpp.

unsigned int kobuki::DockDrive::signal_window

private

Definition at line 138 of file dock_drive.hpp.

RobotDockingState::State kobuki::DockDrive::state

private

Definition at line 134 of file dock_drive.hpp.

std::string kobuki::DockDrive::state_str

private

Definition at line 135 of file dock_drive.hpp.

double kobuki::DockDrive::vx

private

Definition at line 136 of file dock_drive.hpp.

double kobuki::DockDrive::wz

private

Definition at line 136 of file dock_drive.hpp.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation