Classes |
struct | _spur_user_params |
Typedefs |
typedef struct _spur_user_params | SpurUserParams |
typedef struct _spur_user_params * | SpurUserParamsPtr |
Enumerations |
enum | MotorControlMode {
MOTOR_CONTROL_OPENFREE,
MOTOR_CONTROL_FREE,
MOTOR_CONTROL_VEHICLE,
MOTOR_CONTROL_VEL,
MOTOR_CONTROL_ANGLE,
MOTOR_CONTROL_ANGLE_VEL
} |
enum | SpurRunMode {
RUN_OPENFREE = -1,
RUN_FREE = 0,
RUN_STOP,
RUN_LINEFOLLOW,
RUN_STOP_LINE,
RUN_CIRCLEFOLLOW,
RUN_SPIN,
RUN_ORIENT,
RUN_VEL,
RUN_WHEEL_VEL,
RUN_WHEEL_TORQUE,
RUN_WHEEL_ANGLE
} |
Functions |
void | circle_com (int cs, double *data, SpurUserParamsPtr spur) |
void | command (void) |
void | free_com (double *data, SpurUserParamsPtr spur) |
void | get_ad_com (double *data, double *resdata) |
void | get_error_state_com (double *data, double *resdata) |
void | get_force_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur) |
void | get_joint_ang_com (int id, double *data, SpurUserParamsPtr spur) |
void | get_joint_torque_com (int id, double *data, SpurUserParamsPtr spur) |
void | get_joint_vel_com (int id, double *data, SpurUserParamsPtr spur) |
void | get_joint_vref_com (int id, double *data, SpurUserParamsPtr spur) |
void | get_pos_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur) |
SpurUserParamsPtr | get_spur_user_param_ptr () |
void | get_vel_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur) |
void | get_vref_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur) |
void | get_wheel_ang_com (double *data, double *resdata, SpurUserParamsPtr spur) |
void | get_wheel_torque_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur) |
void | get_wheel_vel_com (double *data, double *resdata, SpurUserParamsPtr spur) |
void | get_wheel_vref_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur) |
void | init_command_thread (pthread_t *thread) |
void | init_spur_command (void) |
void | joint_ang_com (int id, double *data, SpurUserParamsPtr spur) |
void | joint_ang_vel_com (int id, double *data, SpurUserParamsPtr spur) |
void | joint_torque_com (int id, double *data, SpurUserParamsPtr spur) |
void | joint_vel_com (int id, double *data, SpurUserParamsPtr spur) |
void | line_com (int cs, double *data, SpurUserParamsPtr spur) |
void | message_return (struct ipcmd_t *ipcmd, long retpid, YPSpur_msg *res_msg) |
int | near_ang_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur) |
int | near_pos_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur) |
void | openfree_com (double *data, SpurUserParamsPtr spur) |
void | orient_com (int cs, double *data, SpurUserParamsPtr spur) |
int | over_line_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur) |
int | param_get_com (int cs, double *resdata, SpurUserParamsPtr spur) |
void | param_set_com (int cs, double *data, SpurUserParamsPtr spur) |
void | param_state_com (int cs, double *data, SpurUserParamsPtr spur) |
void | set_accel_com (double *data, SpurUserParamsPtr spur) |
void | set_adjust_com (int cs, double *data, SpurUserParamsPtr spur) |
void | set_ang_accel_com (double *data, SpurUserParamsPtr spur) |
void | set_ang_vel_com (double *data, SpurUserParamsPtr spur) |
void | set_GL_on_GL_com (double *data, SpurUserParamsPtr spur) |
void | set_io_data_com (double *data, double *resdata) |
void | set_io_dir_com (double *data, double *resdata) |
void | set_joint_accel_com (int id, double *data, SpurUserParamsPtr spur) |
void | set_joint_vel_com (int id, double *data, SpurUserParamsPtr spur) |
void | set_pos_com (int cs, double *data, SpurUserParamsPtr spur) |
void | set_tilt_com (int cs, double *data, SpurUserParamsPtr spur) |
void | set_torque_com (double *data, SpurUserParamsPtr spur) |
void | set_vel_com (double *data, SpurUserParamsPtr spur) |
void | set_wheel_accel_com (double *data, SpurUserParamsPtr spur) |
void | set_wheel_vel_com (double *data, SpurUserParamsPtr spur) |
void | spin_com (int cs, double *data, SpurUserParamsPtr spur) |
void | stop_com (double *data, SpurUserParamsPtr spur) |
void | stop_line_com (int cs, double *data, SpurUserParamsPtr spur) |
void | vel_com (double *data, SpurUserParamsPtr spur) |
void | wheel_angle_com (double *data, SpurUserParamsPtr spur) |
void | wheel_vel_com (double *data, SpurUserParamsPtr spur) |