kobuki::Parameters Class Reference

Parameter list and validator for the kobuki. More...

#include <parameters.hpp>

List of all members.

Public Member Functions
	Parameters ()
	Default constructor.
bool	validate ()
	A validator to ensure the user has supplied correct/sensible parameter values.
Public Attributes
double	angular_acceleration_limit
double	angular_deceleration_limit
double	battery_capacity
	Capacity voltage of the battery [16.5V].
double	battery_dangerous
	Threshold for battery level in danger of depletion [13.2V].
double	battery_low
	Threshold for battery level warnings [14.0V].
std::string	device_port
	The serial device port name [/dev/kobuki].
bool	enable_acceleration_limiter
	Enable or disable the acceleration limiter [true].
std::string	error_msg
	Provides error messages when parameter validation fails (internal purposes only)
double	linear_acceleration_limit
double	linear_deceleration_limit
std::string	sigslots_namespace
	The first part of a sigslot connection namespace ["/kobuki"].
bool	simulation
	Whether to put the motors in loopback mode or not [false].

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Detailed Description

Parameter list and validator for the kobuki.

Definition at line 36 of file parameters.hpp.

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Constructor & Destructor Documentation

kobuki::Parameters::Parameters

(

)

[inline]

Default constructor.

Definition at line 39 of file parameters.hpp.

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Member Function Documentation

bool kobuki::Parameters::validate

(

)

[inline]

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.

Definition at line 74 of file parameters.hpp.

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Member Data Documentation

double kobuki::Parameters::angular_acceleration_limit

Definition at line 64 of file parameters.hpp.

double kobuki::Parameters::angular_deceleration_limit

Definition at line 65 of file parameters.hpp.

double kobuki::Parameters::battery_capacity

Capacity voltage of the battery [16.5V].

Definition at line 58 of file parameters.hpp.

double kobuki::Parameters::battery_dangerous

Threshold for battery level in danger of depletion [13.2V].

Definition at line 60 of file parameters.hpp.

double kobuki::Parameters::battery_low

Threshold for battery level warnings [14.0V].

Definition at line 59 of file parameters.hpp.

std::string kobuki::Parameters::device_port

The serial device port name [/dev/kobuki].

Definition at line 54 of file parameters.hpp.

bool kobuki::Parameters::enable_acceleration_limiter

Enable or disable the acceleration limiter [true].

Definition at line 57 of file parameters.hpp.

std::string kobuki::Parameters::error_msg

Provides error messages when parameter validation fails (internal purposes only)

Definition at line 80 of file parameters.hpp.

double kobuki::Parameters::linear_acceleration_limit

Definition at line 62 of file parameters.hpp.

double kobuki::Parameters::linear_deceleration_limit

Definition at line 63 of file parameters.hpp.

std::string kobuki::Parameters::sigslots_namespace

The first part of a sigslot connection namespace ["/kobuki"].

Definition at line 55 of file parameters.hpp.

bool kobuki::Parameters::simulation

Whether to put the motors in loopback mode or not [false].

Definition at line 56 of file parameters.hpp.

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

• parameters.hpp