SegwayRmp400OdomAlgorithm Class Reference

IRI ROS Specific Driver Class. More...

#include <segway_rmp400_odom_alg.h>

List of all members.

Public Types
typedef iri_segway_rmp400_odom::SegwayRmp400OdomConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
void	lock (void)
	Lock Algorithm.
	SegwayRmp400OdomAlgorithm (void)
	constructor
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~SegwayRmp400OdomAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type

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Detailed Description

IRI ROS Specific Driver Class.

Definition at line 38 of file segway_rmp400_odom_alg.h.

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Member Typedef Documentation

typedef iri_segway_rmp400_odom::SegwayRmp400OdomConfig SegwayRmp400OdomAlgorithm::Config

define config type

Define a Config type with the SegwayRmp400OdomConfig. All driver implementations will then use the same variable type Config.

Definition at line 58 of file segway_rmp400_odom_alg.h.

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Constructor & Destructor Documentation

SegwayRmp400OdomAlgorithm::SegwayRmp400OdomAlgorithm

(

void

)

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 3 of file segway_rmp400_odom_alg.cpp.

SegwayRmp400OdomAlgorithm::~SegwayRmp400OdomAlgorithm

(

void

)

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 7 of file segway_rmp400_odom_alg.cpp.

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Member Function Documentation

void SegwayRmp400OdomAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = 0
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 11 of file segway_rmp400_odom_alg.cpp.

void SegwayRmp400OdomAlgorithm::lock

(

void

)

[inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 83 of file segway_rmp400_odom_alg.h.

bool SegwayRmp400OdomAlgorithm::try_enter

(

void

)

[inline]

Tries Access to Algorithm.

Tries access to Algorithm

Returns:

true if the lock was adquired, false otherwise

Definition at line 99 of file segway_rmp400_odom_alg.h.

void SegwayRmp400OdomAlgorithm::unlock

(

void

)

[inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 90 of file segway_rmp400_odom_alg.h.

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Member Data Documentation

CMutex SegwayRmp400OdomAlgorithm::alg_mutex_ [protected]

define config type

Define a Config type with the SegwayRmp400OdomConfig. All driver implementations will then use the same variable type Config.

Definition at line 47 of file segway_rmp400_odom_alg.h.

Config SegwayRmp400OdomAlgorithm::config_

config variable

This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.

Definition at line 66 of file segway_rmp400_odom_alg.h.

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

• segway_rmp400_odom_alg.h
• segway_rmp400_odom_alg.cpp