IRI ROS Specific Driver Class. More...

#include <tcm3_compass_driver.h>

Inheritance diagram for Tcm3CompassDriver:

Public Types
typedef iri_tcm3_compass::Tcm3CompassConfig	Config
	define config type
Public Member Functions
bool	closeDriver (void)
	close driver
void	config_update (const Config &new_cfg, uint32_t level=0)
	config update
void	getData (double &heading, double &pitch, double &roll, bool &distortion)
	get fix angles data in radians
bool	openDriver (void)
	open driver
bool	startDriver (void)
	start driver
bool	stopDriver (void)
	stop driver
	Tcm3CompassDriver ()
	constructor
	~Tcm3CompassDriver ()
	Destructor.
Public Attributes
Config	config_
	config variable
Private Attributes
double	base_heading_
double	last_heading_
CTCM3 *	tcm3_

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Base class IriBaseDriver, which provides the guidelines to implement any specific driver. The IriBaseDriver class offers an easy framework to integrate functional drivers implemented in C++ with the ROS driver structure. ROS driver_base state transitions are already managed by IriBaseDriver.

The Tcm3CompassDriver class must implement all specific driver requirements to safetely open, close, run and stop the driver at any time. It also must guarantee an accessible interface for all driver's parameters.

The Tcm3CompassConfig.cfg needs to be filled up with those parameters suitable to be changed dynamically by the ROS dyanmic reconfigure application. The implementation of the CIriNode class will manage those parameters through methods like postNodeOpenHook() and reconfigureNodeHook().

Definition at line 54 of file tcm3_compass_driver.h.

Member Typedef Documentation

typedef iri_tcm3_compass::Tcm3CompassConfig Tcm3CompassDriver::Config

define config type

Define a Config type with the Tcm3CompassConfig. All driver implementations will then use the same variable type Config.

Definition at line 69 of file tcm3_compass_driver.h.

Constructor & Destructor Documentation

Tcm3CompassDriver::Tcm3CompassDriver ( )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 4 of file tcm3_compass_driver.cpp.

Tcm3CompassDriver::~Tcm3CompassDriver ( )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 86 of file tcm3_compass_driver.cpp.

Member Function Documentation

bool Tcm3CompassDriver::closeDriver ( void ) [virtual]

close driver

In this function, the driver must be closed. Variables related to the driver state must also be taken into account. This function is automatically called by IriBaseDriver::doClose(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 21 of file tcm3_compass_driver.cpp.

void Tcm3CompassDriver::config_update	(	const Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 54 of file tcm3_compass_driver.cpp.

void Tcm3CompassDriver::getData	(	double &	heading,
		double &	pitch,
		double &	roll,
		bool &	distortion
	)

get fix angles data in radians

This function returns the values of the angles yaw, pitch and roll in radians

Return values:

yaw	no hase falta decir nada mas
pitch	idem
roll	idem

Definition at line 93 of file tcm3_compass_driver.cpp.

bool Tcm3CompassDriver::openDriver ( void ) [virtual]

open driver

In this function, the driver must be openned. Openning errors must be taken into account. This function is automatically called by IriBaseDriver::doOpen(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 12 of file tcm3_compass_driver.cpp.

bool Tcm3CompassDriver::startDriver ( void ) [virtual]

start driver

After this function, the driver and its thread will be started. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStart(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 27 of file tcm3_compass_driver.cpp.

bool Tcm3CompassDriver::stopDriver ( void ) [virtual]

stop driver

After this function, the driver's thread will stop its execution. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStop(), an state transition is performed if return value equals true.