Class Kobuki

• Defined in File kobuki.hpp

Class Documentation

class Kobuki

The core kobuki driver class.

This connects to the outside world via sigslots and get accessors.

Public Functions

Kobuki()

~Kobuki()

void init(Parameters &parameters)

inline bool isAlive() const

Whether the connection to the robot is alive and currently streaming.

inline bool isShutdown() const

Whether the worker thread is alive or not.

inline bool isEnabled() const

Whether the motor power is enabled or disabled.

bool enable()

Enable power to the motors.

bool disable()

Disable power to the motors.

inline void shutdown()

Gently terminate the worker thread.

void spin()

void fixPayload(ecl::PushAndPop<unsigned char> &byteStream)

void lockDataAccess()

void unlockDataAccess()

ecl::Angle<double> getHeading() const

double getAngularVelocity() const

inline VersionInfo versionInfo() const

inline Battery batteryStatus() const

inline CoreSensors::Data getCoreSensorData() const

inline DockIR::Data getDockIRData() const

inline Cliff::Data getCliffData() const

inline Current::Data getCurrentData() const

inline Inertia::Data getInertiaData() const

inline GpInput::Data getGpInputData() const

inline ThreeAxisGyro::Data getRawInertiaData() const

inline ControllerInfo::Data getControllerInfoData() const

void getWheelJointStates(double &wheel_left_angle, double &wheel_left_angle_rate, double &wheel_right_angle, double &wheel_right_angle_rate)

void updateOdometry(ecl::linear_algebra::Vector3d &pose_update, ecl::linear_algebra::Vector3d &pose_update_rates)

void resetOdometry()

void setBaseControl(const double &linear_velocity, const double &angular_velocity)

void setLed(const enum LedNumber &number, const enum LedColour &colour)

void setDigitalOutput(const DigitalOutput &digital_output)

void setExternalPower(const DigitalOutput &digital_output)

void playSoundSequence(const enum SoundSequences &number)

bool setControllerGain(const unsigned char &type, const unsigned int &p_gain, const unsigned int &i_gain, const unsigned int &d_gain)

bool getControllerGain()

void printSigSlotConnections() const