parameters.hpp
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1 
9 /*****************************************************************************
10  ** Ifdefs
11  *****************************************************************************/
12 
13 #ifndef KOBUKI_PARAMETERS_HPP_
14 #define KOBUKI_PARAMETERS_HPP_
15 
16 /*****************************************************************************
17  ** Includes
18  *****************************************************************************/
19 
20 #include <string>
21 #include "modules/battery.hpp"
22 
23 /*****************************************************************************
24  ** Namespaces
25  *****************************************************************************/
26 
27 namespace kobuki
28 {
29 
30 /*****************************************************************************
31  ** Interface
32  *****************************************************************************/
37 {
38 public:
40  device_port("/dev/kobuki"),
41  sigslots_namespace("/kobuki"),
42  simulation(false),
44  battery_capacity(Battery::capacity),
45  battery_low(Battery::low),
46  battery_dangerous(Battery::dangerous),
48  linear_deceleration_limit(-0.3*1.2),
51  {
52  }
54  std::string device_port;
55  std::string sigslots_namespace;
56  bool simulation;
58  double battery_capacity; /* defaults defined in battery.cpp */
59  double battery_low; /* defaults defined in battery.cpp */
60  double battery_dangerous; /* defaults defined in battery.cpp */
61 
66 
74  bool validate()
75  {
76  // not doing anything right now - delete it, if we can find a use case ...
77  return true;
78  }
79 
80  std::string error_msg;
81 };
82 
83 } // namespace kobuki
84 
85 #endif /* KOBUKI_PARAMETERS_HPP_ */
double angular_deceleration_limit
Definition: parameters.hpp:65
double battery_low
Threshold for battery level warnings [14.0V].
Definition: parameters.hpp:59
bool validate()
A validator to ensure the user has supplied correct/sensible parameter values.
Definition: parameters.hpp:74
Human friendly batter indicator class.
std::string error_msg
Provides error messages when parameter validation fails (internal purposes only)
Definition: parameters.hpp:80
std::string device_port
The serial device port name [/dev/kobuki].
Definition: parameters.hpp:54
double battery_dangerous
Threshold for battery level in danger of depletion [13.2V].
Definition: parameters.hpp:60
Parameters()
Default constructor.
Definition: parameters.hpp:39
std::string sigslots_namespace
The first part of a sigslot connection namespace ["/kobuki"].
Definition: parameters.hpp:55
bool simulation
Whether to put the motors in loopback mode or not [false].
Definition: parameters.hpp:56
Parameter list and validator for the kobuki.
Definition: parameters.hpp:36
double linear_deceleration_limit
Definition: parameters.hpp:63
Battery level module.
Definition: battery.hpp:40
double linear_acceleration_limit
Definition: parameters.hpp:62
double battery_capacity
Capacity voltage of the battery [16.5V].
Definition: parameters.hpp:58
bool enable_acceleration_limiter
Enable or disable the acceleration limiter [true].
Definition: parameters.hpp:57
double angular_acceleration_limit
Definition: parameters.hpp:64


kobuki_driver
Author(s): Daniel Stonier , Younghun Ju , Jorge Santos Simon
autogenerated on Fri Sep 18 2020 03:22:02