Keyboard remote control for your robot. More...

#include <keyop.hpp>

Public Member Functions
bool	init ()
	Initialises the node. More...

	KeyOp ()

void	spin ()
	Worker thread loop; sends current velocity command at a fixed rate. More...

	~KeyOp ()

Private Member Functions
void	decrementAngularVelocity ()
	If not already mined, decrement the angular velocities.. More...

void	decrementLinearVelocity ()
	If not already minned, decrement the linear velocities.. More...

void	disable ()
	Disables commands to the navigation system. More...

void	enable ()
	Reset/re-enable the navigation system. More...

void	incrementAngularVelocity ()
	If not already maxxed, increment the angular velocities.. More...

void	incrementLinearVelocity ()
	If not already maxxed, increment the command velocities.. More...

void	keyboardInputLoop ()
	The worker thread function that accepts input keyboard commands. More...

void	processKeyboardInput (char c)
	Process individual keyboard inputs. More...

void	resetVelocity ()

void	restoreTerminal ()

Private Attributes
bool	accept_incoming_

double	angular_vel_max_

double	angular_vel_step_

geometry_msgs::TwistPtr	cmd_

geometry_msgs::TwistStampedPtr	cmd_stamped_

ros::Publisher	disable_motors_publisher_

ros::Publisher	enable_motors_publisher_

int	key_file_descriptor_

bool	last_zero_vel_sent_

double	linear_vel_max_

double	linear_vel_step_

std::string	name_

struct termios	original_terminal_state_

bool	power_status_

bool	quit_requested_

ecl::Thread	thread_

ros::Publisher	velocity_publisher_

bool	wait_for_connection_

Detailed Description

Keyboard remote control for your robot.

Definition at line 22 of file keyop.hpp.

Constructor & Destructor Documentation

yocs_keyop::KeyOp::KeyOp ( )

Definition at line 22 of file keyop.cpp.

yocs_keyop::KeyOp::~KeyOp ( )

Definition at line 38 of file keyop.cpp.

Member Function Documentation

void yocs_keyop::KeyOp::decrementAngularVelocity ( )

private

If not already mined, decrement the angular velocities..

Definition at line 408 of file keyop.cpp.

void yocs_keyop::KeyOp::decrementLinearVelocity ( )

private

If not already minned, decrement the linear velocities..

Definition at line 370 of file keyop.cpp.

void yocs_keyop::KeyOp::disable ( )

private

Disables commands to the navigation system.

This does the following things:

Disables power to the navigation motors (via device_manager).
Parameters

msg

Definition at line 300 of file keyop.cpp.

void yocs_keyop::KeyOp::enable ( )

private

Reset/re-enable the navigation system.

resets the command velocities.
reenable power if not enabled.

Definition at line 327 of file keyop.cpp.

void yocs_keyop::KeyOp::incrementAngularVelocity ( )

private

If not already maxxed, increment the angular velocities..

Definition at line 389 of file keyop.cpp.

void yocs_keyop::KeyOp::incrementLinearVelocity ( )

private

If not already maxxed, increment the command velocities..

Definition at line 351 of file keyop.cpp.

bool yocs_keyop::KeyOp::init ( )

Initialises the node.

Definition at line 46 of file keyop.cpp.

void yocs_keyop::KeyOp::keyboardInputLoop ( )

private

The worker thread function that accepts input keyboard commands.

This is ok here - but later it might be a good idea to make a node which posts keyboard events to a topic. Recycle common code if used by many!

Definition at line 195 of file keyop.cpp.

void yocs_keyop::KeyOp::processKeyboardInput ( char c )

private

Process individual keyboard inputs.

Parameters

c	keyboard input.

Definition at line 231 of file keyop.cpp.

void yocs_keyop::KeyOp::resetVelocity ( )

private

Definition at line 424 of file keyop.cpp.

void yocs_keyop::KeyOp::restoreTerminal ( )

private

void yocs_keyop::KeyOp::spin ( )

Worker thread loop; sends current velocity command at a fixed rate.

It also process ros functions as well as aborting when requested.

Definition at line 150 of file keyop.cpp.

Member Data Documentation

bool yocs_keyop::KeyOp::accept_incoming_

private

Definition at line 40 of file keyop.hpp.

double yocs_keyop::KeyOp::angular_vel_max_

private

Definition at line 46 of file keyop.hpp.

double yocs_keyop::KeyOp::angular_vel_step_

private

Definition at line 46 of file keyop.hpp.

geometry_msgs::TwistPtr yocs_keyop::KeyOp::cmd_

private

Definition at line 43 of file keyop.hpp.

geometry_msgs::TwistStampedPtr yocs_keyop::KeyOp::cmd_stamped_

private

Definition at line 44 of file keyop.hpp.

ros::Publisher yocs_keyop::KeyOp::disable_motors_publisher_

private

Definition at line 38 of file keyop.hpp.

ros::Publisher yocs_keyop::KeyOp::enable_motors_publisher_

private

Definition at line 38 of file keyop.hpp.

int yocs_keyop::KeyOp::key_file_descriptor_

private

Definition at line 68 of file keyop.hpp.

bool yocs_keyop::KeyOp::last_zero_vel_sent_

private

Definition at line 39 of file keyop.hpp.

double yocs_keyop::KeyOp::linear_vel_max_

private

Definition at line 45 of file keyop.hpp.

double yocs_keyop::KeyOp::linear_vel_step_

private

Definition at line 45 of file keyop.hpp.

std::string yocs_keyop::KeyOp::name_

private

Definition at line 47 of file keyop.hpp.

struct termios yocs_keyop::KeyOp::original_terminal_state_

private

Definition at line 69 of file keyop.hpp.

bool yocs_keyop::KeyOp::power_status_

private

Definition at line 41 of file keyop.hpp.

bool yocs_keyop::KeyOp::quit_requested_

private

Definition at line 67 of file keyop.hpp.

ecl::Thread yocs_keyop::KeyOp::thread_

private

Definition at line 70 of file keyop.hpp.

ros::Publisher yocs_keyop::KeyOp::velocity_publisher_

private

Definition at line 38 of file keyop.hpp.

bool yocs_keyop::KeyOp::wait_for_connection_

private

Definition at line 42 of file keyop.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation