kobuki::DiffDrive Class Reference

#include <diff_drive.hpp>

Public Member Functions
	DiffDrive ()
void	getWheelJointStates (double &wheel_left_angle, double &wheel_left_angle_rate, double &wheel_right_angle, double &wheel_right_angle_rate)
const ecl::DifferentialDrive::Kinematics &	kinematics ()
std::vector< double >	pointVelocity () const
void	reset ()
void	setVelocityCommands (const double &vx, const double &wz)
void	update (const uint16_t &time_stamp, const uint16_t &left_encoder, const uint16_t &right_encoder, ecl::LegacyPose2D< double > &pose_update, ecl::linear_algebra::Vector3d &pose_update_rates)
	Updates the odometry from firmware stamps and encoders. More...
std::vector< short >	velocityCommands ()
void	velocityCommands (const double &vx, const double &wz)
void	velocityCommands (const short &cmd_speed, const short &cmd_radius)
void	velocityCommands (const std::vector< double > &cmd)
void	velocityCommands (const std::vector< short > &cmd)
double	wheel_bias () const

Private Member Functions
short	bound (const double &value)

Private Attributes
double	bias
ecl::DifferentialDrive::Kinematics	diff_drive_kinematics
int	imu_heading_offset
double	last_diff_time
double	last_rad_left
double	last_rad_right
unsigned short	last_tick_left
unsigned short	last_tick_right
unsigned short	last_timestamp
double	last_velocity_left
double	last_velocity_right
std::vector< double >	point_velocity
double	radius
double	speed
ecl::Mutex	state_mutex
const double	tick_to_rad
ecl::Mutex	velocity_mutex
double	wheel_radius

Detailed Description

Definition at line 44 of file diff_drive.hpp.

Constructor & Destructor Documentation

DiffDrive()

kobuki::DiffDrive::DiffDrive

(

)

Definition at line 29 of file diff_drive.cpp.

Member Function Documentation

bound()

short kobuki::DiffDrive::bound ( const double &  value )

private

Definition at line 194 of file diff_drive.cpp.

getWheelJointStates()

void kobuki::DiffDrive::getWheelJointStates	(	double &	wheel_left_angle,
		double &	wheel_left_angle_rate,
		double &	wheel_right_angle,
		double &	wheel_right_angle_rate
	)

Definition at line 121 of file diff_drive.cpp.

kinematics()

const ecl::DifferentialDrive::Kinematics& kobuki::DiffDrive::kinematics ( )

inline

Definition at line 55 of file diff_drive.hpp.

pointVelocity()

std::vector< double > kobuki::DiffDrive::pointVelocity

(

)

const

Definition at line 190 of file diff_drive.cpp.

reset()

void kobuki::DiffDrive::reset

(

)

Definition at line 112 of file diff_drive.cpp.

setVelocityCommands()

void kobuki::DiffDrive::setVelocityCommands	(	const double &	vx,
		const double &	wz
	)

Definition at line 131 of file diff_drive.cpp.

update()

void kobuki::DiffDrive::update	(	const uint16_t &	time_stamp,
		const uint16_t &	left_encoder,
		const uint16_t &	right_encoder,
		ecl::LegacyPose2D< double > &	pose_update,
		ecl::linear_algebra::Vector3d &	pose_update_rates
	)

Updates the odometry from firmware stamps and encoders.

Really horrible - could do with an overhaul.

Parameters

time_stamp
left_encoder
right_encoder
pose_update
pose_update_rates

Definition at line 59 of file diff_drive.cpp.

velocityCommands() [1/5]

std::vector< short > kobuki::DiffDrive::velocityCommands

(

)

Definition at line 181 of file diff_drive.cpp.

velocityCommands() [2/5]

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

Definition at line 140 of file diff_drive.cpp.

velocityCommands() [3/5]

void kobuki::DiffDrive::velocityCommands	(	const short &	cmd_speed,
		const short &	cmd_radius
	)

Definition at line 173 of file diff_drive.cpp.

velocityCommands() [4/5]

void kobuki::DiffDrive::velocityCommands ( const std::vector< double > &  cmd )

inline

Definition at line 67 of file diff_drive.hpp.

velocityCommands() [5/5]

void kobuki::DiffDrive::velocityCommands ( const std::vector< short > &  cmd )

inline

Definition at line 68 of file diff_drive.hpp.

wheel_bias()

double kobuki::DiffDrive::wheel_bias ( ) const

inline

Definition at line 79 of file diff_drive.hpp.

Member Data Documentation

bias

double kobuki::DiffDrive::bias

private

Definition at line 93 of file diff_drive.hpp.

diff_drive_kinematics

ecl::DifferentialDrive::Kinematics kobuki::DiffDrive::diff_drive_kinematics

private

Definition at line 98 of file diff_drive.hpp.

imu_heading_offset

int kobuki::DiffDrive::imu_heading_offset

private

Definition at line 95 of file diff_drive.hpp.

last_diff_time

double kobuki::DiffDrive::last_diff_time

private

Definition at line 84 of file diff_drive.hpp.

last_rad_left

double kobuki::DiffDrive::last_rad_left

private

Definition at line 87 of file diff_drive.hpp.

last_rad_right

double kobuki::DiffDrive::last_rad_right

private

Definition at line 87 of file diff_drive.hpp.

last_tick_left

unsigned short kobuki::DiffDrive::last_tick_left

private

Definition at line 86 of file diff_drive.hpp.

last_tick_right

unsigned short kobuki::DiffDrive::last_tick_right

private

Definition at line 86 of file diff_drive.hpp.

last_timestamp

unsigned short kobuki::DiffDrive::last_timestamp

private

Definition at line 82 of file diff_drive.hpp.

last_velocity_left

double kobuki::DiffDrive::last_velocity_left

private

Definition at line 83 of file diff_drive.hpp.

last_velocity_right

double kobuki::DiffDrive::last_velocity_right

private

Definition at line 83 of file diff_drive.hpp.

point_velocity

std::vector<double> kobuki::DiffDrive::point_velocity

private

Definition at line 90 of file diff_drive.hpp.

radius

double kobuki::DiffDrive::radius

private

Definition at line 91 of file diff_drive.hpp.

speed

double kobuki::DiffDrive::speed

private

Definition at line 92 of file diff_drive.hpp.

state_mutex

ecl::Mutex kobuki::DiffDrive::state_mutex

private

Definition at line 99 of file diff_drive.hpp.

tick_to_rad

const double kobuki::DiffDrive::tick_to_rad

private

Definition at line 96 of file diff_drive.hpp.

velocity_mutex

ecl::Mutex kobuki::DiffDrive::velocity_mutex

private

Definition at line 99 of file diff_drive.hpp.

wheel_radius

double kobuki::DiffDrive::wheel_radius

private

Definition at line 94 of file diff_drive.hpp.

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

• diff_drive.hpp
• diff_drive.cpp