Class DockDrive

Defined in File dock_drive.hpp

Class Documentation

class DockDrive

Public Functions

DockDrive()

~DockDrive()

inline bool init()

inline bool isEnabled() const

inline bool canRun() const

inline void enable()

inline void disable()

void modeShift(const std::string &mode)

void update(const std::vector<unsigned char> &signal, const unsigned char &bumper, const unsigned char &charger, const ecl::linear_algebra::Vector3d &pose)

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

inline double getVX() const

inline double getWZ() const

inline RobotDockingState::State getState() const

inline std::string getStateStr() const

inline std::string getDebugStr() const

inline void setMinAbsV(double mav)

inline void setMinAbsW(double maw)

inline std::string getDebugStream()

Protected Functions

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

void computePoseUpdate(ecl::linear_algebra::Vector3d &pose_update, const ecl::linear_algebra::Vector3d &pose)

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

void generateDebugMessage(const std::vector<unsigned char> &signal_filt, const unsigned char &bumper, const unsigned char &charger, const std::string &debug_str)

void updateVelocity(const std::vector<unsigned char> &signal_filt, const ecl::linear_algebra::Vector3d &pose_update, std::string &debug_str)

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

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

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

void scan(RobotDockingState::State &state, double &vx, double &wz, const std::vector<unsigned char> &signal_filt, const ecl::linear_algebra::Vector3d &pose_update, std::string &debug_str)

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

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

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)