xbot::DiffDrive Class Reference

#include <diff_drive.hpp>

Public Member Functions
	DiffDrive ()
void	getWheelJointStates (float &wheel_left_angle, float &wheel_left_angle_rate, float &wheel_right_angle, float &wheel_right_angle_rate)
const ecl::DifferentialDrive::Kinematics &	kinematics ()
std::vector< float >	pointVelocity () const
void	reset ()
void	setVelocityCommands (const float &vx, const float &wz)
void	update (const unsigned int &time_stamp, const uint16_t &left_encoder, const uint16_t &right_encoder, ecl::Pose2D< double > &pose_update, ecl::linear_algebra::Vector3d &pose_update_rates)
	Updates the odometry from firmware stamps and encoders. More...
void	velocityCommands (const float &vx, const float &wz)
void	velocityCommands (const std::vector< float > &cmd)
std::vector< float >	velocityCommands ()
float	wheel_bias () const

Private Member Functions
short	bound (const float &value)

Private Attributes
float	angular_velocity
float	bias
ecl::DifferentialDrive::Kinematics	diff_drive_kinematics
int	imu_heading_offset
float	last_diff_time
float	last_rad_left
float	last_rad_right
unsigned short	last_tick_left
unsigned short	last_tick_right
unsigned int	last_timestamp
float	last_velocity_left
float	last_velocity_right
float	linear_velocity
std::vector< float >	point_velocity
ecl::Mutex	state_mutex
const float	tick_to_rad
ecl::Mutex	velocity_mutex
float	wheel_radius

Detailed Description

Definition at line 37 of file diff_drive.hpp.

Constructor & Destructor Documentation

xbot::DiffDrive::DiffDrive

(

)

Definition at line 25 of file diff_drive.cpp.

Member Function Documentation

short xbot::DiffDrive::bound ( const float &  value )

private

Definition at line 165 of file diff_drive.cpp.

void xbot::DiffDrive::getWheelJointStates	(	float &	wheel_left_angle,
		float &	wheel_left_angle_rate,
		float &	wheel_right_angle,
		float &	wheel_right_angle_rate
	)

Definition at line 122 of file diff_drive.cpp.

const ecl::DifferentialDrive::Kinematics& xbot::DiffDrive::kinematics ( )

inline

Definition at line 40 of file diff_drive.hpp.

std::vector< float > xbot::DiffDrive::pointVelocity

(

)

const

Definition at line 153 of file diff_drive.cpp.

void xbot::DiffDrive::reset

(

)

Definition at line 113 of file diff_drive.cpp.

void xbot::DiffDrive::setVelocityCommands	(	const float &	vx,
		const float &	wz
	)

Definition at line 134 of file diff_drive.cpp.

void xbot::DiffDrive::update	(	const unsigned int &	time_stamp,
		const uint16_t &	left_encoder,
		const uint16_t &	right_encoder,
		ecl::Pose2D< double > &	pose_update,
		ecl::linear_algebra::Vector3d &	pose_update_rates
	)

Updates the odometry from firmware stamps and encoders.

Really horrible - could do with an overhaul.

Parameters

time_stamp
left_encoder
right_encoder
pose_update
pose_update_rates

Definition at line 54 of file diff_drive.cpp.

void xbot::DiffDrive::velocityCommands	(	const float &	vx,
		const float &	wz
	)

Definition at line 143 of file diff_drive.cpp.

void xbot::DiffDrive::velocityCommands ( const std::vector< float > &  cmd )

inline

Definition at line 51 of file diff_drive.hpp.

std::vector< float > xbot::DiffDrive::velocityCommands

(

)

Definition at line 155 of file diff_drive.cpp.

float xbot::DiffDrive::wheel_bias ( ) const

inline

Definition at line 62 of file diff_drive.hpp.

Member Data Documentation

float xbot::DiffDrive::angular_velocity

private

Definition at line 74 of file diff_drive.hpp.

float xbot::DiffDrive::bias

private

Definition at line 76 of file diff_drive.hpp.

ecl::DifferentialDrive::Kinematics xbot::DiffDrive::diff_drive_kinematics

private

Definition at line 81 of file diff_drive.hpp.

int xbot::DiffDrive::imu_heading_offset

private

Definition at line 78 of file diff_drive.hpp.

float xbot::DiffDrive::last_diff_time

private

Definition at line 67 of file diff_drive.hpp.

float xbot::DiffDrive::last_rad_left

private

Definition at line 70 of file diff_drive.hpp.

float xbot::DiffDrive::last_rad_right

private

Definition at line 70 of file diff_drive.hpp.

unsigned short xbot::DiffDrive::last_tick_left

private

Definition at line 69 of file diff_drive.hpp.

unsigned short xbot::DiffDrive::last_tick_right

private

Definition at line 69 of file diff_drive.hpp.

unsigned int xbot::DiffDrive::last_timestamp

private

Definition at line 65 of file diff_drive.hpp.

float xbot::DiffDrive::last_velocity_left

private

Definition at line 66 of file diff_drive.hpp.

float xbot::DiffDrive::last_velocity_right

private

Definition at line 66 of file diff_drive.hpp.

float xbot::DiffDrive::linear_velocity

private

Definition at line 75 of file diff_drive.hpp.

std::vector<float> xbot::DiffDrive::point_velocity

private

Definition at line 73 of file diff_drive.hpp.

ecl::Mutex xbot::DiffDrive::state_mutex

private

Definition at line 82 of file diff_drive.hpp.

const float xbot::DiffDrive::tick_to_rad

private

Definition at line 79 of file diff_drive.hpp.

ecl::Mutex xbot::DiffDrive::velocity_mutex

private

Definition at line 82 of file diff_drive.hpp.

float xbot::DiffDrive::wheel_radius

private

Definition at line 77 of file diff_drive.hpp.

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

• diff_drive.hpp
• diff_drive.cpp