#include <open_cr_module.h>

Inheritance diagram for robotis_op::OpenCRModule:

Public Member Functions
void	initialize (const int control_cycle_msec, robotis_framework::Robot *robot)

	OpenCRModule ()

void	process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, robotis_framework::Sensor * > sensors)

virtual	~OpenCRModule ()

Public Member Functions inherited from robotis_framework::SensorModule
std::string	getModuleName ()

virtual	~SensorModule ()

Private Member Functions
double	getAccValue (int raw_value)

double	getGyroValue (int raw_value)

void	handleButton (const std::string &button_name)

void	handleVoltage (double present_volt)

double	lowPassFilter (double alpha, double x_new, double &x_old)

void	publishButtonMsg (const std::string &button_name)

void	publishDXLPowerMsg (unsigned int value)

void	publishIMU ()

void	publishStatusMsg (unsigned int type, std::string msg)

void	queueThread ()

Private Attributes
const double	ACCEL_FACTOR = 2.0 / 32768.0

ros::Time	button_press_time_

ros::Publisher	button_pub_

std::map< std::string, bool >	buttons_

std::map< std::string, ros::Time >	buttons_press_time_

int	control_cycle_msec_

const bool	DEBUG_PRINT

ros::Publisher	dxl_power_msg_pub_

const double	G_ACC = 9.80665

const double	GYRO_FACTOR = 2000.0 / 32800.0

sensor_msgs::Imu	imu_msg_

ros::Publisher	imu_pub_

ros::Time	last_msg_time_

double	present_volt_

std::map< std::string, double >	previous_result_

double	previous_volt_

boost::thread	queue_thread_

ros::Publisher	status_msg_pub_

Additional Inherited Members
Static Public Member Functions inherited from robotis_framework::Singleton< OpenCRModule >
static void	destroyInstance ()

static T *	getInstance ()

Public Attributes inherited from robotis_framework::SensorModule
std::map< std::string, double >	result_

Protected Member Functions inherited from robotis_framework::Singleton< OpenCRModule >
Singleton &	operator= (Singleton const &)

	Singleton (Singleton const &)

	Singleton ()

Protected Attributes inherited from robotis_framework::SensorModule
std::string	module_name_

Detailed Description

Definition at line 38 of file open_cr_module.h.

Constructor & Destructor Documentation

robotis_op::OpenCRModule::OpenCRModule ( )

Definition at line 26 of file open_cr_module.cpp.

robotis_op::OpenCRModule::~OpenCRModule ( )

virtual

Definition at line 69 of file open_cr_module.cpp.

Member Function Documentation

double robotis_op::OpenCRModule::getAccValue ( int raw_value )

private

Definition at line 164 of file open_cr_module.cpp.

double robotis_op::OpenCRModule::getGyroValue ( int raw_value )

private

Definition at line 158 of file open_cr_module.cpp.

void robotis_op::OpenCRModule::handleButton ( const std::string & button_name )

private

Definition at line 208 of file open_cr_module.cpp.

void robotis_op::OpenCRModule::handleVoltage ( double present_volt )

private

Definition at line 259 of file open_cr_module.cpp.

void robotis_op::OpenCRModule::initialize	(	const int	control_cycle_msec,
		robotis_framework::Robot *	robot
	)

virtual

Implements robotis_framework::SensorModule.

Definition at line 74 of file open_cr_module.cpp.

double robotis_op::OpenCRModule::lowPassFilter	(	double	alpha,
		double	x_new,
		double &	x_old
	)

private

Definition at line 307 of file open_cr_module.cpp.

void robotis_op::OpenCRModule::process	(	std::map< std::string, robotis_framework::Dynamixel * >	dxls,
		std::map< std::string, robotis_framework::Sensor * >	sensors
	)

virtual

Implements robotis_framework::SensorModule.

Definition at line 98 of file open_cr_module.cpp.

void robotis_op::OpenCRModule::publishButtonMsg ( const std::string & button_name )

private

Definition at line 250 of file open_cr_module.cpp.

void robotis_op::OpenCRModule::publishDXLPowerMsg ( unsigned int value )

private

Definition at line 297 of file open_cr_module.cpp.

void robotis_op::OpenCRModule::publishIMU ( )

private

Definition at line 169 of file open_cr_module.cpp.

void robotis_op::OpenCRModule::publishStatusMsg	(	unsigned int	type,
		std::string	msg
	)

private

Definition at line 286 of file open_cr_module.cpp.

void robotis_op::OpenCRModule::queueThread ( )

private

Definition at line 80 of file open_cr_module.cpp.

Member Data Documentation

const double robotis_op::OpenCRModule::ACCEL_FACTOR = 2.0 / 32768.0

private

Definition at line 52 of file open_cr_module.h.

ros::Time robotis_op::OpenCRModule::button_press_time_

private

Definition at line 72 of file open_cr_module.h.

ros::Publisher robotis_op::OpenCRModule::button_pub_

private

Definition at line 82 of file open_cr_module.h.

std::map<std::string, bool> robotis_op::OpenCRModule::buttons_

private

Definition at line 70 of file open_cr_module.h.

std::map<std::string, ros::Time> robotis_op::OpenCRModule::buttons_press_time_

private

Definition at line 71 of file open_cr_module.h.

int robotis_op::OpenCRModule::control_cycle_msec_

private

Definition at line 68 of file open_cr_module.h.

const bool robotis_op::OpenCRModule::DEBUG_PRINT

private

Definition at line 53 of file open_cr_module.h.

ros::Publisher robotis_op::OpenCRModule::dxl_power_msg_pub_

private

Definition at line 84 of file open_cr_module.h.

const double robotis_op::OpenCRModule::G_ACC = 9.80665

private

Definition at line 50 of file open_cr_module.h.

const double robotis_op::OpenCRModule::GYRO_FACTOR = 2000.0 / 32800.0

private

Definition at line 51 of file open_cr_module.h.

sensor_msgs::Imu robotis_op::OpenCRModule::imu_msg_

private

Definition at line 78 of file open_cr_module.h.

ros::Publisher robotis_op::OpenCRModule::imu_pub_

private

Definition at line 81 of file open_cr_module.h.

ros::Time robotis_op::OpenCRModule::last_msg_time_

private

Definition at line 73 of file open_cr_module.h.

double robotis_op::OpenCRModule::present_volt_

private

Definition at line 76 of file open_cr_module.h.

std::map<std::string, double> robotis_op::OpenCRModule::previous_result_

private

Definition at line 74 of file open_cr_module.h.

double robotis_op::OpenCRModule::previous_volt_

private

Definition at line 75 of file open_cr_module.h.

boost::thread robotis_op::OpenCRModule::queue_thread_

private

Definition at line 69 of file open_cr_module.h.

ros::Publisher robotis_op::OpenCRModule::status_msg_pub_

private

Definition at line 83 of file open_cr_module.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation