segwayrmp Namespace Reference

Classes
class	FiniteConcurrentSharedQueue
class	FTD2XXRMPIO
struct	Packet
class	RMPIO
class	SegwayRMP
class	SegwayStatus
class	SegwayTime
class	SerialRMPIO

Typedefs
typedef boost::function< void(const std::exception &)>	ExceptionCallback
typedef boost::function< SegwayTime(void)>	GetTimeCallback
typedef boost::function< void(const std::string &)>	LogMsgCallback
typedef boost::function< void(SegwayStatus::Ptr)>	SegwayStatusCallback

Enumerations
enum	ConfigurationType { by_serial_number = 0, by_description = 1, by_index = 2, by_none = 3 }
enum	ControllerGainSchedule { light = 0, tall = 1, heavy = 2 }
enum	InterfaceType {   can = 0, usb = 1, serial = 2, ethernet = 3,   no_interface = -1 }
enum	OperationalMode { disabled = 0, tractor = 1, balanced = 2, power_down = 3 }
enum	SegwayRMPType {   rmp50 = 0, rmp100 = 1, rmp200 = 2, rmp400 = 3,   rmpx440 = 4 }

Functions
	DEFINE_EXCEPTION (PacketRetrievalException,"Error retrieving a packet from the"" SegwayRMP: ","Unspecified")
	DEFINE_EXCEPTION (NoHighPerformanceTimersException,"","This system does not ""appear to have a High Precision Event Timer (HPET) device.")
	DEFINE_EXCEPTION (ConnectionFailedException,"Error connecting to the ""SegwayRMP: ","Unspecified")
	DEFINE_EXCEPTION (ReadFailedException,"Error reading from the SegwayRMP: ","Unspecified")
	DEFINE_EXCEPTION (WriteFailedException,"Error writing to the SegwayRMP: ","Unspecified")
	DEFINE_EXCEPTION (MoveFailedException,"Error moving the SegwayRMP: ","Unspecified")
	DEFINE_EXCEPTION (ConfigurationException,"Error configuring the SegwayRMP: ","Unspecified")
std::vector< FT_DEVICE_LIST_INFO_NODE >	enumerateUSBDevices ()

Typedef Documentation

typedef boost::function<void(const std::exception&)> segwayrmp::ExceptionCallback

Definition at line 330 of file segwayrmp.h.

typedef boost::function<SegwayTime(void)> segwayrmp::GetTimeCallback

Definition at line 329 of file segwayrmp.h.

typedef boost::function<void(const std::string&)> segwayrmp::LogMsgCallback

Definition at line 331 of file segwayrmp.h.

typedef boost::function<void(SegwayStatus::Ptr)> segwayrmp::SegwayStatusCallback

Definition at line 328 of file segwayrmp.h.

Enumeration Type Documentation

enum segwayrmp::ConfigurationType

Defines the possible methods of configuring the usb port.

Enumerator
by_serial_number	This method requires a serial number like "FT000001".
by_description	This method requires a description like "Robotic Mobile Platform".
by_index	This method requires an index like 0 or 1. This selects amoung all FTD2XX devices.
by_none	Means it hasn't been set yet.

Definition at line 50 of file rmp_ftd2xx.h.

enum segwayrmp::ControllerGainSchedule

Defines the controller gain schedule options for the Segway vehicle.

Enumerator
light	For relatively small weights (20 kg) near the platform
tall	For relatively small weights (20 kg) spread out vertically on the platform
heavy	For heavy weights (40 kg) near the platform

Definition at line 173 of file segwayrmp.h.

enum segwayrmp::InterfaceType

Defines the possible modes of communication for the Segway Interface.

Enumerator
can	This method is unsupported currently.
usb	This method communicates to the Segway via usb using the FTD2XX library.
serial	This method communicates to the Segway via a virtual serial port.
ethernet	This method communicates to the Segway via a UDP/IP ethernet interface. Note: This is only allowed with the rmpx440
no_interface

Definition at line 99 of file segwayrmp.h.

enum segwayrmp::OperationalMode

Defines the operational modes of the Segway vehicle.

Enumerator
disabled	This means the Segway has not been set to a mode yet.
tractor	This mode means the Segway will move without balancing, i.e. it has a caster.
balanced	This mode means the Segway will balance on its two drive wheels.
power_down	This mode means the Segway will power down.

Definition at line 150 of file segwayrmp.h.

enum segwayrmp::SegwayRMPType

Defines the type of Segway RMP you are using.

Enumerator
rmp50	This indicates you have an RMP50 vehicle.
rmp100	This indicates you have an RMP100 vehicle.
rmp200	This indicates you have an RMP200 vehicle.
rmp400	You still need to run two instances of SegwayRMP, this is the same as setting SegwayRMPType as rmp200.
rmpx440	This is the new rmp400, dubbed the rmpx440, which allows ethernet control.

Definition at line 123 of file segwayrmp.h.

Function Documentation

segwayrmp::DEFINE_EXCEPTION	(	PacketRetrievalException	,
		"Error retrieving a packet from the"" SegwayRMP: "	,
		"Unspecified"
	)

segwayrmp::DEFINE_EXCEPTION	(	NoHighPerformanceTimersException	,
		""	,
		"This system does not ""appear to have a High Precision Event Timer (HPET) device."
	)

segwayrmp::DEFINE_EXCEPTION	(	ConnectionFailedException	,
		"Error connecting to the ""SegwayRMP: "	,
		"Unspecified"
	)

segwayrmp::DEFINE_EXCEPTION	(	ReadFailedException	,
		"Error reading from the SegwayRMP: "	,
		"Unspecified"
	)

segwayrmp::DEFINE_EXCEPTION	(	WriteFailedException	,
		"Error writing to the SegwayRMP: "	,
		"Unspecified"
	)

segwayrmp::DEFINE_EXCEPTION	(	MoveFailedException	,
		"Error moving the SegwayRMP: "	,
		"Unspecified"
	)

segwayrmp::DEFINE_EXCEPTION	(	ConfigurationException	,
		"Error configuring the SegwayRMP: "	,
		"Unspecified"
	)

std::vector< FT_DEVICE_LIST_INFO_NODE > segwayrmp::enumerateUSBDevices

(

)

Definition at line 78 of file rmp_ftd2xx.cc.