#include <CanListener.h>

Public Member Functions
	CanListener (RobotState *state)

double	get_velocity_left ()

double	get_velocity_right ()

void	run ()

Public Attributes
struct can_frame	frame

Private Member Functions
double	calculateAverage (double velocity_average[], double velocity)

nav_msgs::Odometry	getOdomMsg (ros::Time current_time)

geometry_msgs::TransformStamped	getOdomTF (ros::Time current_time)

bool	gettingData ()

void	initalize ()

void	movingForward (double d, double d_time)

void	otherMovement (double d, double t, double d_time)

int	overflowDetection (int ticks, int ticks_old)

void	turningInPlace (double t, double d_time)

Private Attributes
int	average_size

int	counter

double	impulses_per_mm_left

double	impulses_per_mm_right

double	left_average

double	left_velocity_average [50]

double	right_average

double	right_velocity_average [50]

RobotState *	state

double	wheel_distance

Detailed Description

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 3 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, see http://www.gnu.org/licenses/. Gets velocity information from Can and publish them on ROS as odom information.

Definition at line 28 of file CanListener.h.

Constructor & Destructor Documentation

CanListener::CanListener ( RobotState * state )

inline

Definition at line 84 of file CanListener.h.

Member Function Documentation

double CanListener::calculateAverage	(	double	velocity_average[],
		double	velocity
	)

private

Calculate average velocity over the last average_size velocities.

Definition at line 183 of file CanListener.cpp.

double CanListener::get_velocity_left ( )

Definition at line 318 of file CanListener.cpp.

double CanListener::get_velocity_right ( )

Return the velocity of the wheels, by an average (average_size).

Definition at line 314 of file CanListener.cpp.

nav_msgs::Odometry CanListener::getOdomMsg ( ros::Time current_time )

private

Create the odom message, which get published.

Definition at line 70 of file CanListener.cpp.

geometry_msgs::TransformStamped CanListener::getOdomTF ( ros::Time current_time )

private

Get the how the actual odom positin is transformed to origin.

Definition at line 49 of file CanListener.cpp.

bool CanListener::gettingData ( )

private

Return true if data from Can is received.

Definition at line 97 of file CanListener.cpp.

void CanListener::initalize ( )

private

Initalize global paramter.

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 3 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, see http://www.gnu.org/licenses/.

Definition at line 33 of file CanListener.cpp.

void CanListener::movingForward	(	double	d,
		double	d_time
	)

private

Calculate position + orientation if moving forward.

Definition at line 134 of file CanListener.cpp.

void CanListener::otherMovement	(	double	d,
		double	t,
		double	d_time
	)

private

Calculate position + orientation if combined movment of rotation and translation.

Definition at line 158 of file CanListener.cpp.

int CanListener::overflowDetection	(	int	ticks,
		int	ticks_old
	)

private

Detect overflow. If wheel rotate 360°.

Definition at line 117 of file CanListener.cpp.

void CanListener::run ( )

Get the velocity from Can, transform them and publish on ROS.

Definition at line 204 of file CanListener.cpp.

void CanListener::turningInPlace	(	double	t,
		double	d_time
	)

private

Calculate position + orientation if rotate.

Definition at line 149 of file CanListener.cpp.

Member Data Documentation

int CanListener::average_size

private

Definition at line 41 of file CanListener.h.

int CanListener::counter

private

Definition at line 44 of file CanListener.h.

struct can_frame CanListener::frame

Definition at line 96 of file CanListener.h.

double CanListener::impulses_per_mm_left

private

Definition at line 35 of file CanListener.h.

double CanListener::impulses_per_mm_right

private

Definition at line 36 of file CanListener.h.

double CanListener::left_average

private

Definition at line 38 of file CanListener.h.

double CanListener::left_velocity_average[50]

private

Definition at line 42 of file CanListener.h.

double CanListener::right_average

private

Definition at line 39 of file CanListener.h.

double CanListener::right_velocity_average[50]

private

Definition at line 43 of file CanListener.h.

RobotState* CanListener::state

private

Definition at line 34 of file CanListener.h.

double CanListener::wheel_distance

private

Definition at line 37 of file CanListener.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation