#include <segwayrmp.h>
Public Types | |
| typedef boost::shared_ptr< SegwayStatus > | Ptr |
Public Member Functions | |
| SegwayStatus () | |
| std::string | str () |
Public Attributes | |
| float | commanded_velocity |
| float | commanded_yaw_rate |
| ControllerGainSchedule | controller_gain_schedule |
| float | integrated_forward_position |
| float | integrated_left_wheel_position |
| float | integrated_right_wheel_position |
| float | integrated_turn_position |
| float | left_motor_torque |
| float | left_wheel_speed |
| int | motor_status |
| OperationalMode | operational_mode |
| float | pitch |
| float | pitch_rate |
| float | powerbase_battery_voltage |
| float | right_motor_torque |
| float | right_wheel_speed |
| float | roll |
| float | roll_rate |
| float | servo_frames |
| SegwayTime | timestamp |
| bool | touched |
| float | ui_battery_voltage |
| float | yaw_rate |
Contains Status Information returned by the Segway RMP.
Definition at line 276 of file segwayrmp.h.
| typedef boost::shared_ptr<SegwayStatus> segwayrmp::SegwayStatus::Ptr |
Definition at line 325 of file segwayrmp.h.
| SegwayStatus::SegwayStatus | ( | ) |
Definition at line 142 of file segwayrmp.cc.
| std::string SegwayStatus::str | ( | ) |
Definition at line 154 of file segwayrmp.cc.
| float segwayrmp::SegwayStatus::commanded_velocity |
Current Commanded Velocity, meters/second.
Definition at line 313 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::commanded_yaw_rate |
Current Commanded Angular Velocity in degrees/second.
Definition at line 315 of file segwayrmp.h.
| ControllerGainSchedule segwayrmp::SegwayStatus::controller_gain_schedule |
Current Controller Gain Schedule (balance mode only) one of {light, tall, heavy}.
Definition at line 311 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::integrated_forward_position |
Integrated Forward/Aft Displacement in meters.
Definition at line 292 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::integrated_left_wheel_position |
Integrated Left Wheel Position in meters.
Definition at line 288 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::integrated_right_wheel_position |
Integrated Right Wheel Position in meters.
Definition at line 290 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::integrated_turn_position |
Integrated Yaw Angle in degrees.
Definition at line 294 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::left_motor_torque |
Current Left Motor Torque, Newton-meters.
Definition at line 296 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::left_wheel_speed |
Current Left Wheel Velocity, meters/second.
Definition at line 283 of file segwayrmp.h.
| int segwayrmp::SegwayStatus::motor_status |
Current Motor Status one of {Enabled = 1, Emergency-Stopped = 0}.
Definition at line 317 of file segwayrmp.h.
| OperationalMode segwayrmp::SegwayStatus::operational_mode |
Current Operational Mode one of {disabled, tractor, balanced, power_down}.
Definition at line 306 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::pitch |
Integrated Pitch in degrees.
Definition at line 279 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::pitch_rate |
Current Pitch Aungular Velocity in degrees/second.
Definition at line 280 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::powerbase_battery_voltage |
Current Powerbase Battery Voltage in Volts.
Definition at line 302 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::right_motor_torque |
Current Right Motor Torque, Newton-meters.
Definition at line 298 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::right_wheel_speed |
Current Right Wheel Velocity, meters/second.
Definition at line 284 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::roll |
Integrated Roll in degrees.
Definition at line 281 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::roll_rate |
Current Roll Angular Velocity, degrees/second.
Definition at line 282 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::servo_frames |
Current Servo Time in seconds (0.01s intervals).
Definition at line 286 of file segwayrmp.h.
| SegwayTime segwayrmp::SegwayStatus::timestamp |
Time that this data was received.
Definition at line 278 of file segwayrmp.h.
| bool segwayrmp::SegwayStatus::touched |
For Testing Only.
Definition at line 319 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::ui_battery_voltage |
Current UI Battery Voltage in Volts.
Definition at line 300 of file segwayrmp.h.
| float segwayrmp::SegwayStatus::yaw_rate |
Current Yaw Angular Velocity, degrees/second.
Definition at line 285 of file segwayrmp.h.