ATRVJR Driver class Modified from B21 Driver - By David Lu!! 2/2010 Modified from Player code. More...

#include <atrvjr_driver.h>

Inheritance diagram for ATRVJR:

Public Member Functions
	ATRVJR ()
int	getBaseBumps (sensor_msgs::PointCloud *cloud) const
void	getBaseSonarPoints (sensor_msgs::PointCloud *cloud) const
void	getBaseSonarReadings (float *readings) const
float	getBearing ()
int	getBodyBumps (sensor_msgs::PointCloud *cloud) const
void	getBodySonarPoints (sensor_msgs::PointCloud *cloud) const
void	getBodySonarReadings (float *readings) const
float	getDistance ()
int	getNumBaseSonars () const
int	getNumBodySonars () const
float	getRotationalVelocity () const
float	getTranslationalVelocity () const
float	getVoltage () const
bool	isOdomReady () const
bool	isPluggedIn () const
void	processDioEvent (unsigned char address, unsigned short data)
void	setMovement (float tvel, float rvel, float acceleration)
void	setSonarPower (bool)
virtual	~ATRVJR ()
Private Member Functions
	ATRVJR (const ATRVJR &atrvjr)
	Private constructor - Don't use.
int	getBumps (const int index, sensor_msgs::PointCloud *cloud) const
void	getSonarPoints (const int ringi, sensor_msgs::PointCloud *cloud) const
void	getSonarReadings (const int ringi, float *readings) const
ATRVJR &	operator= (const ATRVJR &atrvjr)
	Private constructor - Don't use.
Private Attributes
int **	bumps
int	first_distance
bool	found_distance
int	home_bearing
	Last home bearing (arbitrary units)

Detailed Description

ATRVJR Driver class Modified from B21 Driver - By David Lu!! 2/2010 Modified from Player code.

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA

Definition at line 33 of file atrvjr_driver.h.

Constructor & Destructor Documentation

ATRVJR::ATRVJR ( )

Definition at line 31 of file atrvjr_driver.cc.

ATRVJR::~ATRVJR ( ) [virtual]

Definition at line 44 of file atrvjr_driver.cc.

ATRVJR::ATRVJR ( const ATRVJR & atrvjr ) [private]

Private constructor - Don't use.

Member Function Documentation

int ATRVJR::getBaseBumps ( sensor_msgs::PointCloud * cloud ) const

Gets a point cloud for the bump sensors on the base

Parameters:

cloud Data structure into which the bump readings are saved

Returns:: number of active bump sensors

Definition at line 113 of file atrvjr_driver.cc.

void ATRVJR::getBaseSonarPoints ( sensor_msgs::PointCloud * cloud ) const

Gets a point cloud for sonar readings from base

Parameters:

cloud Data structure into which the sonar readings are saved

Definition at line 105 of file atrvjr_driver.cc.

void ATRVJR::getBaseSonarReadings ( float * readings ) const

Get readings from the sonar on the base of the ATRVJR in meters

Parameters:

readings Data structure into which the sonar readings are saved

Definition at line 98 of file atrvjr_driver.cc.

float ATRVJR::getBearing ( )

Definition at line 59 of file atrvjr_driver.cc.

int ATRVJR::getBodyBumps ( sensor_msgs::PointCloud * cloud ) const

Gets a point cloud for the bump sensors on the body

Parameters:

cloud Data structure into which the bump readings are saved

Returns:: number of active bump sensors

Definition at line 109 of file atrvjr_driver.cc.

void ATRVJR::getBodySonarPoints ( sensor_msgs::PointCloud * cloud ) const

Gets a point cloud for sonar readings from body

Parameters:

cloud Data structure into which the sonar readings are saved

Definition at line 102 of file atrvjr_driver.cc.

void ATRVJR::getBodySonarReadings ( float * readings ) const

Get readings from the sonar on the body of the ATRVJR in meters

Parameters:

readings Data structure into which the sonar readings are saved

Definition at line 94 of file atrvjr_driver.cc.

int ATRVJR::getBumps	(	const int	index,
		sensor_msgs::PointCloud *	cloud
	)		const `[private]`

Parameters:

index	BODY_INDEX or BASE_INDEX
cloud	Data structure into which the bump sensors are saved

Returns:: number of active bump sensors

Definition at line 173 of file atrvjr_driver.cc.

float ATRVJR::getDistance ( )

Definition at line 50 of file atrvjr_driver.cc.

int ATRVJR::getNumBaseSonars ( ) const

Definition at line 90 of file atrvjr_driver.cc.

int ATRVJR::getNumBodySonars ( ) const

Definition at line 86 of file atrvjr_driver.cc.

float ATRVJR::getRotationalVelocity ( ) const

Definition at line 67 of file atrvjr_driver.cc.

void ATRVJR::getSonarPoints	(	const int	ringi,
		sensor_msgs::PointCloud *	cloud
	)		const `[private]`

Parameters:

ringi	BODY_INDEX or BASE_INDEX
cloud	Data structure into which the sonar readings are saved

Definition at line 153 of file atrvjr_driver.cc.

void ATRVJR::getSonarReadings	(	const int	ringi,
		float *	readings
	)		const `[private]`

Parameters:

ringi	BODY_INDEX or BASE_INDEX
readings	Data structure into which the sonar readings are saved

Definition at line 139 of file atrvjr_driver.cc.

float ATRVJR::getTranslationalVelocity ( ) const

Definition at line 63 of file atrvjr_driver.cc.

float ATRVJR::getVoltage ( ) const

Definition at line 71 of file atrvjr_driver.cc.

bool ATRVJR::isOdomReady ( ) const [inline]

Detects whether the robot has all the necessary components to calculate odometry

Returns:: bool true if robot has read its distance, bearing and home bearing

Definition at line 89 of file atrvjr_driver.h.

bool ATRVJR::isPluggedIn ( ) const

Definition at line 78 of file atrvjr_driver.cc.

ATRVJR& ATRVJR::operator= ( const ATRVJR & atrvjr ) [private]

Private constructor - Don't use.

void ATRVJR::processDioEvent	(	unsigned char	address,
		unsigned short	data
	)		`[virtual]`

Processes the DIO packets - called from RFflex Driver

Parameters:

address	origin
data	values

Reimplemented from RFLEX.

Definition at line 209 of file atrvjr_driver.cc.

void ATRVJR::setMovement	(	float	tvel,
		float	rvel,
		float	acceleration
	)

Sets the motion of the robot

Parameters:

tvel	Translational velocity (in m/s)
rvel	Rotational velocity (in radian/s)
acceleration	Translational acceleration (in m/s/s)

Definition at line 131 of file atrvjr_driver.cc.

void ATRVJR::setSonarPower ( bool on )

Definition at line 117 of file atrvjr_driver.cc.

Member Data Documentation

int** ATRVJR::bumps [private]

Definition at line 110 of file atrvjr_driver.h.

int ATRVJR::first_distance [private]

Definition at line 107 of file atrvjr_driver.h.

bool ATRVJR::found_distance [private]

Definition at line 108 of file atrvjr_driver.h.

int ATRVJR::home_bearing [private]

Last home bearing (arbitrary units)

Definition at line 109 of file atrvjr_driver.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