13 #ifndef KOBUKI_PARAMETERS_HPP_ 14 #define KOBUKI_PARAMETERS_HPP_ double angular_deceleration_limit
double battery_low
Threshold for battery level warnings [14.0V].
bool validate()
A validator to ensure the user has supplied correct/sensible parameter values.
Human friendly batter indicator class.
std::string error_msg
Provides error messages when parameter validation fails (internal purposes only)
std::string device_port
The serial device port name [/dev/kobuki].
double battery_dangerous
Threshold for battery level in danger of depletion [13.2V].
Parameters()
Default constructor.
std::string sigslots_namespace
The first part of a sigslot connection namespace ["/kobuki"].
bool simulation
Whether to put the motors in loopback mode or not [false].
Parameter list and validator for the kobuki.
double linear_deceleration_limit
double linear_acceleration_limit
double battery_capacity
Capacity voltage of the battery [16.5V].
bool enable_acceleration_limiter
Enable or disable the acceleration limiter [true].
double angular_acceleration_limit