Class for controlling Nav2 via turtle interface. More...

#include <nav2remote.h>

Public Member Functions
int	back (double dist)
	Move backward.
int	estimatePosition (double &x, double &y, double &orientation) const
	Estimate the position and orientation.
int	forward (double dist)
	Move forward.
double	getMaxAccel () const
	Get the maximum acceleration for turtle commands.
double	getMaxCorneringError () const
	Get the maximum cornering error for turtle commands.
double	getMaxSpeed () const
	Get the maximum speed for turtle commands.
int	getQueueSize () const
	Get the turtle command queue size.
int	move (double dist, double direction)
	Move in a specified direction.
	Nav2Remote (const char *host, int port=5010)
	Create the Nav2Remote object.
int	setAbsoluteVelocity (double vx, double vy)
	Set the velocity in absolute coordinates.
int	setMaxAccel (double maxAccel)
	Set the maximum acceleration for turtle commands.
int	setMaxCorneringError (double error)
	Set the maximum cornering error for turtle commands.
int	setMaxSpeed (double maxSpeed)
	Set the maximum speed for turtle commands.
int	setPosition (double x, double y, double orientation)
	Set the current actual position and orientation.
int	setRelativeVelocity (double vx, double vy, double turnRate=0.0)
	Set the relative velocity and turn rate.
int	setTargetOrientation (double orientation)
	Set the target orientation in world coordinates.
int	stop ()
	Stop the robot immediately.
int	turnLeft (double angle)
	Turn left.
int	turnRight (double angle)
	Turn right.
int	wait () const
	Wait until the turtle command queue is empty.
	~Nav2Remote ()
Private Member Functions
	Nav2Remote (const Nav2Remote &)
Nav2Remote &	operator= (const Nav2Remote &)
int	readLine () const
Private Attributes
int	fd
char *	line
int	lineLen

Detailed Description

Class for controlling Nav2 via turtle interface.

This class is a C++ front-end for Crosswing's serial turtle interface. This interface is not thread-safe. Most of these functions block on I/O.

Note that the turtle commands run asynchronously. Each command is added to the robot's path plan, and the function returns immediately. Call getQueueSize() to determine whether the robot has completed the requested path. Call wait() to wait until the queue is empty.

When this object goes out of scope (eg, when the program finishes), the robot will stop immediately, even if there are commands in the queue. Use wait() if you want to ensure that the path completes.

Definition at line 27 of file nav2remote.h.

Constructor & Destructor Documentation

Nav2Remote::Nav2Remote ( const Nav2Remote & ) [private]

Nav2Remote::Nav2Remote	(	const char *	host,
		int	port = `5010`
	)

Create the Nav2Remote object.

Constructs the object and connects to a remote turtle interface. If there is a connection problem, this function throws std::runtime_error.

Parameters:

host	The remote hostname or IP address.
port	The TCP port.

Definition at line 18 of file nav2remote.cpp.

Nav2Remote::~Nav2Remote ( )

Definition at line 50 of file nav2remote.cpp.

Member Function Documentation

int Nav2Remote::back ( double dist ) [inline]

Move backward.

Queue a turtle command to move the robot backward by the specified distance. This is equivalent to move(-dist,0.0).

Parameters:

dist	The distance in meters.

Returns:: 0 on success, non-zero on IO error.

Definition at line 192 of file nav2remote.h.

int Nav2Remote::estimatePosition	(	double &	x,
		double &	y,
		double &	orientation
	)		const

Estimate the position and orientation.

Parameters:

x	Output parameter for the estimated x coordinate in meters.
y	Output parameter for the estimated y coordinate in meters.
orientation	Output parameter for the estimated orientation in radians.

Returns:: 0 on success, non-zero on IO error.

Definition at line 106 of file nav2remote.cpp.

int Nav2Remote::forward ( double dist ) [inline]

Move forward.

Queue a turtle command to move the robot forward by the specified distance. This is equivalent to move(dist,0.0).

Parameters:

dist	The distance in meters.

Returns:: 0 on success, non-zero on IO error.

Definition at line 181 of file nav2remote.h.

double Nav2Remote::getMaxAccel ( ) const

Get the maximum acceleration for turtle commands.

Returns:: The maximum acceleration in meters per second squared, or -1 on IO error.

See also:: setMaxAccel

Definition at line 181 of file nav2remote.cpp.

double Nav2Remote::getMaxCorneringError ( ) const

Get the maximum cornering error for turtle commands.

Returns:: The maximum cornering error in meters, or -1 on IO error.

See also:: setMaxCorneringError

Definition at line 194 of file nav2remote.cpp.

double Nav2Remote::getMaxSpeed ( ) const

Get the maximum speed for turtle commands.

Returns:: The maximum speed in meters per second, or -1 on IO error.

See also:: setMaxSpeed

Definition at line 168 of file nav2remote.cpp.

int Nav2Remote::getQueueSize ( ) const

Get the turtle command queue size.

Get the number of turtle line segments remaining in the queue.

Returns:: The number of segments, or -1 on IO error.

See also:: wait

Definition at line 207 of file nav2remote.cpp.

int Nav2Remote::move	(	double	dist,
		double	direction
	)

Move in a specified direction.

Queue a turtle command to move a specified distance in the specified direction (relative to the robot's heading).

Parameters:

dist	The distance in meters.
direction	The relative direction of travel in radians. Positive values are to the robot's left; Negative values are to the robot's right.

Returns:: 0 on success, non-zero on IO error.

Definition at line 140 of file nav2remote.cpp.

Nav2Remote& Nav2Remote::operator= ( const Nav2Remote & ) [private]

int Nav2Remote::readLine ( ) const [private]

Definition at line 56 of file nav2remote.cpp.

int Nav2Remote::setAbsoluteVelocity	(	double	vx,
		double	vy
	)

Set the velocity in absolute coordinates.

Set the robot's velocity in absolute coordinates. This function overrides and clears the turtle command queue.

Parameters:

vx	The x-component of the velocity in meters per second.
vy	The y-component of the velocity in meters per second.

Returns:: 0 on success, non-zero on IO error.

See also:: setRelativeVelocity, estimatePosition

Definition at line 92 of file nav2remote.cpp.

int Nav2Remote::setMaxAccel ( double maxAccel )

Set the maximum acceleration for turtle commands.

This does not affect the behaviour of setTargetVelocity().

Parameters:

maxAccel The maximum acceleration in meters per second squared.

Returns:: 0 on success, non-zero on IO error.

See also:: getMaxAccel

Definition at line 154 of file nav2remote.cpp.

int Nav2Remote::setMaxCorneringError ( double error )

Set the maximum cornering error for turtle commands.

When following turtle commands, the robot will plan to come at least that near to each corner in the resulting path. If this value is set to 0, the robot will come to a complete stop at each corner. Setting this to larger values allows the robot to follow the path at a higher speed.

Parameters:

error The maximum cornering error in meters.

Returns:: 0 on success, non-zero on IO error.

See also:: getMaxCorneringError

Definition at line 161 of file nav2remote.cpp.

int Nav2Remote::setMaxSpeed ( double maxSpeed )

Set the maximum speed for turtle commands.

This does not affect the behaviour of setTargetVelocity().

Parameters:

maxSpeed The maximum speed in meters per second.

Returns:: 0 on success, non-zero on IO error.

See also:: getMaxSpeed

Definition at line 147 of file nav2remote.cpp.

int Nav2Remote::setPosition	(	double	x,
		double	y,
		double	orientation
	)

Set the current actual position and orientation.

The provided values will be used as ground truth for future estimates.

Parameters:

x	The absolute x coordinate in meters.
y	The absolute y coordinate in meters.
orientation	The absolute orientation in radians.

Returns:: 0 on success, non-zero on IO error.

Definition at line 121 of file nav2remote.cpp.

int Nav2Remote::setRelativeVelocity	(	double	vx,
		double	vy,
		double	turnRate = `0.0`
	)

Set the relative velocity and turn rate.

Set the robot's velocity relative to its own orientation, and the rate of rotation. If the velocity and turn rate are both non-zero, the robot will follow a circular path. A velocity of zero with a non-zero turn rate will cause the robot to rotate in place. This function overrides and clears the turtle command queue.

Examples:
setRelativeVelocity(0.3,0.0,0.0) - Move straight forward.
setRelativeVelocity(0.0,0.3,0.0) - Move leftward.
setRelativeVelocity(0.0,-0.2,-1.5) - Move rightward, while rotating clockwise.

Parameters:

vx	The x-component of the velocity in meters per second.
vy	The y-component of the velocity in meters per second.
turnRate	The turn rate in radians per second. Use positive values for counterclockwise rotation, or negative values for clockwise rotation.

Returns:: 0 on success, non-zero on IO error.

See also:: setAbsoluteVelocity

Definition at line 99 of file nav2remote.cpp.

int Nav2Remote::setTargetOrientation ( double orientation )

Set the target orientation in world coordinates.

At an orientation of zero, the robot is facing in the direction of the positive x axis. If the robot needs to rotate, its rotational speed will gradually increase then gradually decrease to try to achieve the given orientation.

Parameters:

orientation the target orientation in radians.

Returns:: 0 on success, non-zero on IO error.

Definition at line 85 of file nav2remote.cpp.

int Nav2Remote::stop ( )

Stop the robot immediately.

Returns:: 0 on success, non-zero on IO error.

Definition at line 128 of file nav2remote.cpp.

int Nav2Remote::turnLeft ( double angle )

Turn left.

Queue a turtle command to turn left by the specified angle.

Parameters:

angle The angle in radians.

Returns:: 0 on success, non-zero on IO error.

Definition at line 133 of file nav2remote.cpp.

int Nav2Remote::turnRight ( double angle ) [inline]

Turn right.

Queue a turtle command to turn right by the specified angle.

Parameters:

angle The angle in radians.

Returns:: 0 on success, non-zero on IO error.

Definition at line 156 of file nav2remote.h.

int Nav2Remote::wait ( ) const

Wait until the turtle command queue is empty.

Returns:: 0 on success, or -1 on IO error.

See also:: getQueueSize

Definition at line 221 of file nav2remote.cpp.

Member Data Documentation

int Nav2Remote::fd [private]

Definition at line 35 of file nav2remote.h.

char* Nav2Remote::line [mutable, private]

Definition at line 33 of file nav2remote.h.

int Nav2Remote::lineLen [mutable, private]

Definition at line 34 of file nav2remote.h.

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