stdoutcomm.h
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00001 #ifndef _STDOUTCOMM_H_
00002 #define _STDOUTCOMM_H_
00003 
00004 #include <iostream>
00005 
00006 #include "comm.h"
00007 
00008 class STDoutComm : public Comm
00009 {
00010   public:
00011     STDoutComm() : sum_ticks_a_(0), sum_ticks_b_(0) { }
00012     void send_odometry(double z, double x, double theta, double v_encoder, double v_encoder_angular, int wheel_a, int wheel_b, double v_encoder_left, double v_encoder_right)
00013     {
00014       std::cout << "Odometry: z: " << z << " x: " << x << " theta: " << theta << std::endl;
00015       std::cout << "Encoder: wheel_a: " << wheel_a  << " wheel_b: " << wheel_b << std::endl;
00016       std::cout << "Encoder Speed: v_encoder: " << v_encoder << " v_encoder_angular: " << v_encoder_angular << std::endl;
00017 
00018       sum_ticks_a_ += wheel_a;
00019       sum_ticks_b_ += wheel_b;
00020       v_encoder_ = v_encoder;
00021       v_encoder_left_ = v_encoder_left;
00022       v_encoder_right_ = v_encoder_right;
00023     }
00024 
00025     void send_sonar_leftBack(int ir_left_back)
00026     {
00027       std::cout << "IR left back: " << ir_left_back << std::endl;
00028     }
00029 
00030     void send_sonar_front_usound_leftFront_left(int ir_right_front, int usound, int ir_left_front, int ir_left)
00031     {
00032       std::cout << "IR right front: " << ir_right_front << std::endl;
00033       std::cout << "ultrasound front: " << usound << std::endl;
00034       std::cout << "IR left front: " << ir_left_front << std::endl;
00035       std::cout << "IR left: " << ir_left << std::endl;
00036     }
00037 
00038     void send_sonar_back_rightBack_rightFront(int ir_back, int ir_right_back, int ir_right)
00039     {
00040       std::cout << "IR back: " << ir_back << std::endl;
00041       std::cout << "IR right back: " << ir_right_back << std::endl;
00042       std::cout << "IR right: " << ir_right << std::endl;
00043     }
00044 
00045     void send_pitch_roll(double pitch, double roll)
00046     {
00047       std::cout << "pitch: " << pitch << " roll: " << roll << std::endl;
00048     }
00049 
00050     void send_gyro(double theta, double sigma)
00051     {
00052       std::cout << "Gyro: theta: " << theta << " sigma: " << sigma << std::endl;
00053     }
00054 
00055     void send_rotunit(double rot)
00056     {
00057       std::cout << "Rotunit" << rot <<  std::endl;
00058     }
00059 
00060     unsigned long long K_get_sum_ticks_a()
00061     {
00062       return sum_ticks_a_;
00063     }
00064 
00065     unsigned long long K_get_sum_ticks_b()
00066     {
00067       return sum_ticks_b_;
00068     }
00069 
00070     double v1()
00071     {
00072       return v_encoder_;
00073     }
00074 
00075     double v1_left()
00076     {
00077       return v_encoder_left_;
00078     }
00079 
00080     double v1_right()
00081     {
00082       return v_encoder_right_;
00083     }
00084 
00085   private:
00086     unsigned long long sum_ticks_a_;
00087     unsigned long long sum_ticks_b_;
00088     double v_encoder_;
00089     double v_encoder_left_, v_encoder_right_;
00090 };
00091 
00092 #endif
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kurt_base
Author(s): Jochen Sprickerhof
autogenerated on Tue May 28 2013 14:54:59