#include <dock_drive.hpp>

Public Types
enum	State { IDLE, LOST, UNKNOWN, INSIDE_FIELD, AWAY, SCAN, SPIN, SPIRAL, FIND_STREAM, GET_STREAM, ALIGNED, ALIGNED_FAR, ALIGNED_NEAR, BUMPED, BUMPED_DOCK, RUN, STOP, DOCKED_IN, DONE }
enum	Station { NEAR_LEFT = 1, NEAR_CENTER = 2, NEAR_RIGHT = 4, FAR_CENTER = 8, FAR_LEFT = 16, FAR_RIGHT = 32, NEAR = 7, FAR = 56 }
Public Member Functions
bool	canRun () const
void	disable ()
	DockDrive ()
void	enable ()
std::string	getDebugStr () const
std::string	getDebugStream ()
State	getState () const
std::string	getStateStr () const
double	getVX () const
double	getWZ () const
bool	init ()
bool	isEnabled () const
void	modeShift (const std::string &mode)
void	setMinAbsV (double mav)
void	setMinAbsW (double maw)
void	update (const std::vector< unsigned char > &signal, const unsigned char &bumper, const unsigned char &charger, const ecl::Pose2D< double > &pose)
void	update (const std::vector< unsigned char > &signal, const unsigned char &bumper, const unsigned char &charger, const ecl::Pose2D< double > &pose_update, const ecl::linear_algebra::Vector3d &pose_update_rates)
	Updates the odometry from firmware stamps and encoders.
void	velocityCommands (const double &vx, const double &wz)
	~DockDrive ()
Private Member Functions
std::string	binary (unsigned char number) const
void	setVel (double v, double w)
Private Attributes
int	bump_remainder
bool	can_run
std::string	debug_output
std::string	debug_str
int	dock_detector
int	dock_stabilizer
bool	is_enabled
double	min_abs_v
double	min_abs_w
std::vector< std::vector < unsigned char > >	past_signals
double	rotated
State	state
std::string	state_str
double	vx
double	wz

Detailed Description

Definition at line 64 of file dock_drive.hpp.

Member Enumeration Documentation

enum kobuki::DockDrive::State

Enumerator:

IDLE
LOST
UNKNOWN
INSIDE_FIELD
AWAY
SCAN
SPIN
SPIRAL
FIND_STREAM
GET_STREAM
ALIGNED
ALIGNED_FAR
ALIGNED_NEAR
BUMPED
BUMPED_DOCK
RUN
STOP
DOCKED_IN
DONE

Definition at line 76 of file dock_drive.hpp.

enum kobuki::DockDrive::Station

Enumerator:

NEAR_LEFT
NEAR_CENTER
NEAR_RIGHT
FAR_CENTER
FAR_LEFT
FAR_RIGHT
NEAR
FAR

Definition at line 66 of file dock_drive.hpp.

Constructor & Destructor Documentation

kobuki::DockDrive::DockDrive ( )

Definition at line 58 of file dock_drive.cpp.

kobuki::DockDrive::~DockDrive ( )

Definition at line 71 of file dock_drive.cpp.

Member Function Documentation

std::string kobuki::DockDrive::binary ( unsigned char number ) const [private]

Definition at line 341 of file dock_drive.cpp.

bool kobuki::DockDrive::canRun ( ) const [inline]

Definition at line 103 of file dock_drive.hpp.

void kobuki::DockDrive::disable ( ) [inline]

Definition at line 106 of file dock_drive.hpp.

void kobuki::DockDrive::enable ( ) [inline]

Definition at line 105 of file dock_drive.hpp.

std::string kobuki::DockDrive::getDebugStr ( ) const [inline]

Definition at line 133 of file dock_drive.hpp.

std::string kobuki::DockDrive::getDebugStream ( ) [inline]

Definition at line 142 of file dock_drive.hpp.

State kobuki::DockDrive::getState ( ) const [inline]

Definition at line 131 of file dock_drive.hpp.

std::string kobuki::DockDrive::getStateStr ( ) const [inline]

Definition at line 132 of file dock_drive.hpp.

double kobuki::DockDrive::getVX ( ) const [inline]

Definition at line 125 of file dock_drive.hpp.

double kobuki::DockDrive::getWZ ( ) const [inline]

Definition at line 126 of file dock_drive.hpp.

bool kobuki::DockDrive::init ( ) [inline]

Definition at line 101 of file dock_drive.hpp.

bool kobuki::DockDrive::isEnabled ( ) const [inline]

Definition at line 102 of file dock_drive.hpp.

void kobuki::DockDrive::modeShift ( const std::string & mode )

Definition at line 79 of file dock_drive.cpp.

void kobuki::DockDrive::setMinAbsV ( double mav ) [inline]

Definition at line 138 of file dock_drive.hpp.

void kobuki::DockDrive::setMinAbsW ( double maw ) [inline]

Definition at line 139 of file dock_drive.hpp.

void kobuki::DockDrive::setVel	(	double	v,
		double	w
	)		`[private]`

Definition at line 73 of file dock_drive.cpp.

void kobuki::DockDrive::update	(	const std::vector< unsigned char > &	signal,
		const unsigned char &	bumper,
		const unsigned char &	charger,
		const ecl::Pose2D< double > &	pose
	)

Definition at line 87 of file dock_drive.cpp.

void kobuki::DockDrive::update	(	const std::vector< unsigned char > &	signal,
		const unsigned char &	bumper,
		const unsigned char &	charger,
		const ecl::Pose2D< double > &	pose_update,
		const ecl::linear_algebra::Vector3d &	pose_update_rates
	)