Public Types | Public Member Functions | Private Member Functions | Private Attributes
kobuki::DockDrive Class Reference

#include <dock_drive.hpp>

List of all members.

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

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.

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

Definition at line 58 of file dock_drive.cpp.

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 
)

Updates the odometry from firmware stamps and encoders.

Really horrible - could do with an overhaul.

Parameters:
time_stamp
left_encoder
right_encoder
pose_update
pose_update_rates

Definition at line 117 of file dock_drive.cpp.

void kobuki::DockDrive::velocityCommands ( const double &  vx,
const double &  wz 
)

Definition at line 334 of file dock_drive.cpp.


Member Data Documentation

Definition at line 155 of file dock_drive.hpp.

Definition at line 149 of file dock_drive.hpp.

std::string kobuki::DockDrive::debug_output [private]

Definition at line 166 of file dock_drive.hpp.

std::string kobuki::DockDrive::debug_str [private]

Definition at line 152 of file dock_drive.hpp.

Definition at line 157 of file dock_drive.hpp.

Definition at line 156 of file dock_drive.hpp.

Definition at line 149 of file dock_drive.hpp.

double kobuki::DockDrive::min_abs_v [private]

Definition at line 159 of file dock_drive.hpp.

double kobuki::DockDrive::min_abs_w [private]

Definition at line 160 of file dock_drive.hpp.

std::vector<std::vector<unsigned char> > kobuki::DockDrive::past_signals [private]

Definition at line 154 of file dock_drive.hpp.

double kobuki::DockDrive::rotated [private]

Definition at line 158 of file dock_drive.hpp.

Definition at line 151 of file dock_drive.hpp.

std::string kobuki::DockDrive::state_str [private]

Definition at line 152 of file dock_drive.hpp.

double kobuki::DockDrive::vx [private]

Definition at line 153 of file dock_drive.hpp.

double kobuki::DockDrive::wz [private]

Definition at line 153 of file dock_drive.hpp.


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


kobuki_dock_drive
Author(s): Younghun Ju
autogenerated on Thu Aug 27 2015 13:43:56