Keyboard remote control for our robot core (mobile base). More...

Public Member Functions
std::string &	getFirmwareVersion ()
std::string &	getHardwareVersion ()
ecl::Pose2D< double >	getPose ()
ecl::Pose2D< double >	getPose ()
std::string &	getSoftwareVersion ()
std::string &	getUDID ()
bool	init ()
	Initialises the node.
bool	isAcquired ()
	KobukiManager ()
	Default constructor, needs initialisation.
	KobukiManager ()
	KobukiManager (const std::string &device_port)
	KobukiManager ()
	KobukiManager ()
void	processMotion ()
void	processStreamData ()
void	processStreamData ()
void	processStreamData ()
void	processVersionInfo (const kobuki::VersionInfo &version_info)
void	spin ()
	Worker thread loop; sends current velocity command at a fixed rate.
void	spin ()
	~KobukiManager ()
	~KobukiManager ()
	~KobukiManager ()
Private Member Functions
void	decrementAngularVelocity ()
	If not already mined, decrement the angular velocities..
void	decrementLinearVelocity ()
	If not already minned, decrement the linear velocities..
void	incrementAngularVelocity ()
	If not already maxxed, increment the angular velocities..
void	incrementLinearVelocity ()
	If not already maxxed, increment the command velocities..
void	keyboardInputLoop ()
	The worker thread function that accepts input keyboard commands.
void	processKeyboardInput (char c)
	Process individual keyboard inputs.
void	resetVelocity ()
void	restoreTerminal ()
Private Attributes
volatile bool	acquired
double	angular_vel_max
double	angular_vel_step
double	dth
double	dx
std::string	firmware
std::string	hardware
int	key_file_descriptor
kobuki::Kobuki	kobuki
double	linear_vel_max
double	linear_vel_step
std::string	name
struct termios	original_terminal_state
ecl::Pose2D< double >	pose
bool	quit_requested
ecl::Slot	slot_stream_data
ecl::Slot< const kobuki::VersionInfo & >	slot_version_info
std::string	software
ecl::Thread	thread
std::string	udid
double	vx
double	wz

Detailed Description

Keyboard remote control for our robot core (mobile base).

Definition at line 14 of file initialisation.cpp.

Constructor & Destructor Documentation

KobukiManager::KobukiManager ( ) [inline]

Default constructor, needs initialisation.

Definition at line 16 of file initialisation.cpp.

KobukiManager::KobukiManager ( ) [inline]

Definition at line 21 of file sigslots.cpp.

KobukiManager::KobukiManager ( ) [inline]

Definition at line 26 of file simple_loop.cpp.

KobukiManager::~KobukiManager ( ) [inline]

Definition at line 39 of file simple_loop.cpp.

KobukiManager::KobukiManager ( )

KobukiManager::~KobukiManager ( )

KobukiManager::KobukiManager ( const std::string & device_port ) [inline]

Definition at line 24 of file version_info.cpp.

KobukiManager::~KobukiManager ( ) [inline]

Definition at line 36 of file version_info.cpp.

Member Function Documentation

void KobukiManager::decrementAngularVelocity ( ) [private]

If not already mined, decrement the angular velocities..

Definition at line 342 of file simple_keyop.cpp.

void KobukiManager::decrementLinearVelocity ( ) [private]

If not already minned, decrement the linear velocities..

Definition at line 318 of file simple_keyop.cpp.

std::string& KobukiManager::getFirmwareVersion ( ) [inline]

Definition at line 51 of file version_info.cpp.

std::string& KobukiManager::getHardwareVersion ( ) [inline]

Definition at line 50 of file version_info.cpp.

ecl::Pose2D< double > KobukiManager::getPose ( ) [inline]

Definition at line 64 of file simple_loop.cpp.

ecl::Pose2D<double> KobukiManager::getPose ( )

std::string& KobukiManager::getSoftwareVersion ( ) [inline]

Definition at line 52 of file version_info.cpp.

std::string& KobukiManager::getUDID ( ) [inline]

Definition at line 53 of file version_info.cpp.

void KobukiManager::incrementAngularVelocity ( ) [private]

If not already maxxed, increment the angular velocities..

Definition at line 330 of file simple_keyop.cpp.

void KobukiManager::incrementLinearVelocity ( ) [private]

If not already maxxed, increment the command velocities..

Definition at line 306 of file simple_keyop.cpp.

bool KobukiManager::init ( )

Initialises the node.

Definition at line 147 of file simple_keyop.cpp.

bool KobukiManager::isAcquired ( ) [inline]

Definition at line 49 of file version_info.cpp.

void KobukiManager::keyboardInputLoop ( ) [private]

The worker thread function that accepts input keyboard commands.

This is ok here - but later it might be a good idea to make a node which posts keyboard events to a topic. Recycle common code if used by many!

Definition at line 217 of file simple_keyop.cpp.

void KobukiManager::processKeyboardInput ( char c ) [private]

Process individual keyboard inputs.

Parameters:

c	keyboard input.

Definition at line 251 of file simple_keyop.cpp.

void KobukiManager::processMotion ( ) [inline]

Definition at line 58 of file simple_loop.cpp.

void KobukiManager::processStreamData ( ) [inline]

Definition at line 44 of file simple_loop.cpp.

void KobukiManager::processStreamData ( ) [inline]

Definition at line 46 of file sigslots.cpp.

void KobukiManager::processStreamData ( )

void KobukiManager::processVersionInfo ( const kobuki::VersionInfo & version_info ) [inline]

Definition at line 40 of file version_info.cpp.

void KobukiManager::resetVelocity ( ) [private]

Definition at line 351 of file simple_keyop.cpp.

void KobukiManager::restoreTerminal ( ) [private]

void KobukiManager::spin ( ) [inline]

Worker thread loop; sends current velocity command at a fixed rate.

It also process ros functions as well as aborting when requested.

Definition at line 32 of file sigslots.cpp.

void KobukiManager::spin ( )

Member Data Documentation

volatile bool KobukiManager::acquired [private]

Definition at line 56 of file version_info.cpp.

double KobukiManager::angular_vel_max [private]

Definition at line 92 of file simple_keyop.cpp.

double KobukiManager::angular_vel_step [private]

Definition at line 92 of file simple_keyop.cpp.

double KobukiManager::dth [private]

Definition at line 69 of file simple_loop.cpp.

double KobukiManager::dx [private]

Definition at line 69 of file simple_loop.cpp.

std::string KobukiManager::firmware [private]

Definition at line 58 of file version_info.cpp.

std::string KobukiManager::hardware [private]

Definition at line 58 of file version_info.cpp.

int KobukiManager::key_file_descriptor [private]

Definition at line 112 of file simple_keyop.cpp.

kobuki::Kobuki KobukiManager::kobuki [private]

Definition at line 40 of file initialisation.cpp.

double KobukiManager::linear_vel_max [private]

Definition at line 91 of file simple_keyop.cpp.

double KobukiManager::linear_vel_step [private]

Definition at line 91 of file simple_keyop.cpp.

std::string KobukiManager::name [private]

Definition at line 93 of file simple_keyop.cpp.

struct termios KobukiManager::original_terminal_state [private]

Definition at line 113 of file simple_keyop.cpp.

ecl::Pose2D< double > KobukiManager::pose [private]

Definition at line 70 of file simple_loop.cpp.

bool KobukiManager::quit_requested [private]

Definition at line 111 of file simple_keyop.cpp.

ecl::Slot KobukiManager::slot_stream_data [private]

Definition at line 53 of file sigslots.cpp.

ecl::Slot<const kobuki::VersionInfo&> KobukiManager::slot_version_info [private]

Definition at line 59 of file version_info.cpp.

std::string KobukiManager::software [private]

Definition at line 58 of file version_info.cpp.

ecl::Thread KobukiManager::thread [private]

Definition at line 114 of file simple_keyop.cpp.

std::string KobukiManager::udid [private]

Definition at line 58 of file version_info.cpp.

double KobukiManager::vx [private]

Definition at line 86 of file simple_keyop.cpp.

double KobukiManager::wz [private]

Definition at line 86 of file simple_keyop.cpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation