Class Parameters
Defined in File parameters.hpp
Class Documentation
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class Parameters
Parameter list and validator for the kobuki.
Public Functions
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inline Parameters()
Default constructor.
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inline bool validate()
A validator to ensure the user has supplied correct/sensible parameter values.
This validates the current parameters and if invalid, puts an error string in error_msg.
- Returns:
bool : true if valid, false otherwise.
Public Members
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std::string device_port
The serial device port name [/dev/kobuki].
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std::string sigslots_namespace
The first part of a sigslot connection namespace [“/kobuki”].
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bool simulation
Whether to put the motors in loopback mode or not [false].
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bool enable_acceleration_limiter
Enable or disable the acceleration limiter [true].
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double battery_capacity
Capacity voltage of the battery [16.5V].
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double battery_low
Threshold for battery level warnings [14.0V].
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double battery_dangerous
Threshold for battery level in danger of depletion [13.2V].
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double linear_acceleration_limit
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double linear_deceleration_limit
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double angular_acceleration_limit
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double angular_deceleration_limit
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std::string error_msg
Provides error messages when parameter validation fails (internal purposes only)
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inline Parameters()