Keyboard remote control for our robot core (mobile base). More...

Public Member Functions
std::string &	getFirmwareVersion ()

std::string &	getHardwareVersion ()

ecl::LegacyPose2D< double >	getPose ()

ecl::LegacyPose2D< double >	getPose ()

std::string &	getSoftwareVersion ()

std::string &	getUDID ()

bool	init ()
	Initialises the node. More...

bool	isAcquired ()

bool	isShutdown () const

	KobukiManager ()
	Default constructor, needs initialisation. More...

	KobukiManager ()

	KobukiManager ()

	KobukiManager ()

	KobukiManager (const std::string &device_port)

void	processMotion ()

void	processStreamData ()

void	processStreamData ()

void	processStreamData ()

void	processVersionInfo (const kobuki::VersionInfo &version_info)

void	relayErrors (const std::string &message)

void	relayWarnings (const std::string &message)

void	spin ()
	Worker thread loop; sends current velocity command at a fixed rate. More...

void	spin ()

	~KobukiManager ()

	~KobukiManager ()

	~KobukiManager ()

Private Member Functions
void	decrementAngularVelocity ()
	If not already mined, decrement the angular velocities.. More...

void	decrementLinearVelocity ()
	If not already minned, decrement the linear velocities.. More...

void	incrementAngularVelocity ()
	If not already maxxed, increment the angular velocities.. More...

void	incrementLinearVelocity ()
	If not already maxxed, increment the command velocities.. More...

void	keyboardInputLoop ()
	The worker thread function that accepts input keyboard commands. More...

void	processKeyboardInput (char c)
	Process individual keyboard inputs. More...

void	relayErrors (const std::string &message)

void	relayWarnings (const std::string &message)

void	resetVelocity ()

void	restoreTerminal ()

Private Attributes
volatile bool	acquired

double	angular_vel_max

double	angular_vel_step

double	dth

double	dx

std::string	firmware

std::string	hardware

int	key_file_descriptor

kobuki::Kobuki	kobuki

double	linear_vel_max

double	linear_vel_step

std::string	name

struct termios	original_terminal_state

ecl::LegacyPose2D< double >	pose

bool	quit_requested

ecl::Slot< const std::string & >	slot_debug_error

ecl::Slot< const std::string & >	slot_debug_warning

ecl::Slot	slot_stream_data

ecl::Slot< const kobuki::VersionInfo & >	slot_version_info

std::string	software

ecl::Thread	thread

std::string	udid

double	vx

double	wz

Detailed Description

Keyboard remote control for our robot core (mobile base).

Definition at line 14 of file initialisation.cpp.

Constructor & Destructor Documentation

◆ KobukiManager() [1/5]

KobukiManager::KobukiManager ( )

inline

Default constructor, needs initialisation.

Definition at line 18 of file initialisation.cpp.

◆ KobukiManager() [2/5]

KobukiManager::KobukiManager ( )

inline

Definition at line 25 of file sigslots.cpp.

◆ KobukiManager() [3/5]

KobukiManager::KobukiManager ( )

inline

Definition at line 30 of file simple_loop.cpp.

◆ ~KobukiManager() [1/3]

KobukiManager::~KobukiManager ( )

inline

Definition at line 43 of file simple_loop.cpp.

◆ KobukiManager() [4/5]

KobukiManager::KobukiManager ( )

◆ ~KobukiManager() [2/3]

KobukiManager::~KobukiManager ( )

◆ KobukiManager() [5/5]

KobukiManager::KobukiManager ( const std::string & device_port )

inline

Definition at line 29 of file version_info.cpp.

◆ ~KobukiManager() [3/3]

KobukiManager::~KobukiManager ( )

inline

Definition at line 44 of file version_info.cpp.

Member Function Documentation

◆ decrementAngularVelocity()

void KobukiManager::decrementAngularVelocity ( )

private

If not already mined, decrement the angular velocities..

Definition at line 372 of file simple_keyop.cpp.

◆ decrementLinearVelocity()

void KobukiManager::decrementLinearVelocity ( )

private

If not already minned, decrement the linear velocities..

Definition at line 348 of file simple_keyop.cpp.

◆ getFirmwareVersion()

std::string& KobukiManager::getFirmwareVersion ( )

inline

Definition at line 65 of file version_info.cpp.

◆ getHardwareVersion()

std::string& KobukiManager::getHardwareVersion ( )

inline

Definition at line 64 of file version_info.cpp.

◆ getPose() [1/2]

ecl::LegacyPose2D< double > KobukiManager::getPose ( )

inline

Definition at line 68 of file simple_loop.cpp.

◆ getPose() [2/2]

ecl::LegacyPose2D<double> KobukiManager::getPose ( )

◆ getSoftwareVersion()

std::string& KobukiManager::getSoftwareVersion ( )

inline

Definition at line 66 of file version_info.cpp.

◆ getUDID()

std::string& KobukiManager::getUDID ( )

inline

Definition at line 67 of file version_info.cpp.

◆ incrementAngularVelocity()

void KobukiManager::incrementAngularVelocity ( )

private

If not already maxxed, increment the angular velocities..

Definition at line 360 of file simple_keyop.cpp.

◆ incrementLinearVelocity()

void KobukiManager::incrementLinearVelocity ( )

private

If not already maxxed, increment the command velocities..

Definition at line 336 of file simple_keyop.cpp.

◆ init()

bool KobukiManager::init ( )

Initialises the node.

Definition at line 159 of file simple_keyop.cpp.

◆ isAcquired()

bool KobukiManager::isAcquired ( )

inline

Definition at line 63 of file version_info.cpp.

◆ isShutdown()

bool KobukiManager::isShutdown ( ) const

inline

Definition at line 90 of file simple_keyop.cpp.

◆ keyboardInputLoop()

void KobukiManager::keyboardInputLoop ( )

private

The worker thread function that accepts input keyboard commands.

This is ok here - but later it might be a good idea to make a node which posts keyboard events to a topic. Recycle common code if used by many!

Definition at line 246 of file simple_keyop.cpp.

◆ processKeyboardInput()

void KobukiManager::processKeyboardInput ( char c )

private

Process individual keyboard inputs.

Parameters

c	keyboard input.

Definition at line 281 of file simple_keyop.cpp.

◆ processMotion()

void KobukiManager::processMotion ( )

inline

Definition at line 62 of file simple_loop.cpp.

◆ processStreamData() [1/3]

void KobukiManager::processStreamData ( )

inline

Definition at line 48 of file simple_loop.cpp.

◆ processStreamData() [2/3]

void KobukiManager::processStreamData ( )

inline

Definition at line 50 of file sigslots.cpp.

◆ processStreamData() [3/3]

void KobukiManager::processStreamData ( )

◆ processVersionInfo()

void KobukiManager::processVersionInfo ( const kobuki::VersionInfo & version_info )

inline

Definition at line 46 of file version_info.cpp.

◆ relayErrors() [1/2]

void KobukiManager::relayErrors ( const std::string & message )

inline

Definition at line 59 of file version_info.cpp.

◆ relayErrors() [2/2]

void KobukiManager::relayErrors ( const std::string & message )

private

Definition at line 232 of file simple_keyop.cpp.

◆ relayWarnings() [1/2]

void KobukiManager::relayWarnings ( const std::string & message )

inline

Definition at line 55 of file version_info.cpp.

◆ relayWarnings() [2/2]

void KobukiManager::relayWarnings ( const std::string & message )

private

Definition at line 228 of file simple_keyop.cpp.

◆ resetVelocity()

void KobukiManager::resetVelocity ( )

private

Definition at line 381 of file simple_keyop.cpp.

◆ restoreTerminal()

void KobukiManager::restoreTerminal ( )

private

◆ spin() [1/2]

void KobukiManager::spin ( )

inline

Worker thread loop; sends current velocity command at a fixed rate.

It also process ros functions as well as aborting when requested.

Definition at line 36 of file sigslots.cpp.

◆ spin() [2/2]

void KobukiManager::spin ( )

Member Data Documentation

◆ acquired

volatile bool KobukiManager::acquired

private

Definition at line 70 of file version_info.cpp.

◆ angular_vel_max

double KobukiManager::angular_vel_max

private

Definition at line 100 of file simple_keyop.cpp.

◆ angular_vel_step

double KobukiManager::angular_vel_step

private

Definition at line 100 of file simple_keyop.cpp.

◆ dth

double KobukiManager::dth

private

Definition at line 73 of file simple_loop.cpp.

◆ dx

double KobukiManager::dx

private

Definition at line 73 of file simple_loop.cpp.

◆ firmware

std::string KobukiManager::firmware

private

Definition at line 72 of file version_info.cpp.

◆ hardware

std::string KobukiManager::hardware

private

Definition at line 72 of file version_info.cpp.

◆ key_file_descriptor

int KobukiManager::key_file_descriptor

private

Definition at line 126 of file simple_keyop.cpp.

◆ kobuki

kobuki::Kobuki KobukiManager::kobuki

private

Definition at line 42 of file initialisation.cpp.

◆ linear_vel_max

double KobukiManager::linear_vel_max

private

Definition at line 99 of file simple_keyop.cpp.

◆ linear_vel_step

double KobukiManager::linear_vel_step

private

Definition at line 99 of file simple_keyop.cpp.

◆ name

std::string KobukiManager::name

private

Definition at line 101 of file simple_keyop.cpp.

◆ original_terminal_state

struct termios KobukiManager::original_terminal_state

private

Definition at line 127 of file simple_keyop.cpp.

◆ pose

ecl::LegacyPose2D< double > KobukiManager::pose

private

Definition at line 74 of file simple_loop.cpp.

◆ quit_requested

bool KobukiManager::quit_requested

private

Definition at line 125 of file simple_keyop.cpp.

◆ slot_debug_error

ecl::Slot< const std::string & > KobukiManager::slot_debug_error

private

Definition at line 96 of file simple_keyop.cpp.

◆ slot_debug_warning

ecl::Slot< const std::string & > KobukiManager::slot_debug_warning

private

Definition at line 96 of file simple_keyop.cpp.

◆ slot_stream_data

ecl::Slot KobukiManager::slot_stream_data

private

Definition at line 57 of file sigslots.cpp.

◆ slot_version_info

ecl::Slot<const kobuki::VersionInfo&> KobukiManager::slot_version_info

private

Definition at line 74 of file version_info.cpp.

◆ software

std::string KobukiManager::software

private

Definition at line 72 of file version_info.cpp.

◆ thread

ecl::Thread KobukiManager::thread

private

Definition at line 128 of file simple_keyop.cpp.

◆ udid

std::string KobukiManager::udid

private

Definition at line 72 of file version_info.cpp.

◆ vx

double KobukiManager::vx

private

Definition at line 93 of file simple_keyop.cpp.

◆ wz

double KobukiManager::wz

private

Definition at line 93 of file simple_keyop.cpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ KobukiManager() [1/5]

◆ KobukiManager() [2/5]

◆ KobukiManager() [3/5]

◆ ~KobukiManager() [1/3]

◆ KobukiManager() [4/5]

◆ ~KobukiManager() [2/3]

◆ KobukiManager() [5/5]

◆ ~KobukiManager() [3/3]

Member Function Documentation

◆ decrementAngularVelocity()

◆ decrementLinearVelocity()

◆ getFirmwareVersion()

◆ getHardwareVersion()

◆ getPose() [1/2]

◆ getPose() [2/2]

◆ getSoftwareVersion()

◆ getUDID()

◆ incrementAngularVelocity()

◆ incrementLinearVelocity()

◆ init()

◆ isAcquired()

◆ isShutdown()

◆ keyboardInputLoop()

◆ processKeyboardInput()

◆ processMotion()

◆ processStreamData() [1/3]

◆ processStreamData() [2/3]

◆ processStreamData() [3/3]

◆ processVersionInfo()

◆ relayErrors() [1/2]

◆ relayErrors() [2/2]

◆ relayWarnings() [1/2]

◆ relayWarnings() [2/2]

◆ resetVelocity()

◆ restoreTerminal()

◆ spin() [1/2]

◆ spin() [2/2]

Member Data Documentation

◆ acquired

◆ angular_vel_max

◆ angular_vel_step

◆ dth

◆ dx

◆ firmware

◆ hardware

◆ key_file_descriptor

◆ kobuki

◆ linear_vel_max

◆ linear_vel_step

◆ name

◆ original_terminal_state

◆ pose

◆ quit_requested

◆ slot_debug_error

◆ slot_debug_warning

◆ slot_stream_data

◆ slot_version_info

◆ software

◆ thread

◆ udid

◆ vx

◆ wz