The core kobuki driver class. More...

#include <kobuki.hpp>

Public Member Functions
Battery	batteryStatus () const
bool	disable ()
bool	enable ()
double	getAngularVelocity () const
Cliff::Data	getCliffData () const
CoreSensors::Data	getCoreSensorData () const
Current::Data	getCurrentData () const
DockIR::Data	getDockIRData () const
GpInput::Data	getGpInputData () const
ecl::Angle< double >	getHeading () const
Inertia::Data	getInertiaData () const
ThreeAxisGyro::Data	getRawInertiaData () const
void	getWheelJointStates (double &wheel_left_angle, double &wheel_left_angle_rate, double &wheel_right_angle, double &wheel_right_angle_rate)
void	init (Parameters &parameters) throw (ecl::StandardException)
bool	isAlive () const
bool	isEnabled () const
bool	isShutdown () const
	Kobuki ()
void	playSoundSequence (const enum SoundSequences &number)
void	printSigSlotConnections () const
	Print a list of all relevant sigslot connections.
void	resetOdometry ()
void	setBaseControl (const double &linear_velocity, const double &angular_velocity)
void	setDigitalOutput (const DigitalOutput &digital_output)
void	setExternalPower (const DigitalOutput &digital_output)
void	setLed (const enum LedNumber &number, const enum LedColour &colour)
void	shutdown ()
void	spin ()
	Performs a scan looking for incoming data packets.
void	updateOdometry (ecl::Pose2D< double > &pose_update, ecl::linear_algebra::Vector3d &pose_update_rates)
	Use the current sensor data (encoders and gyro) to calculate an update for the odometry.
VersionInfo	versionInfo () const
	~Kobuki ()
Private Member Functions
void	sendBaseControlCommand ()
void	sendCommand (Command command)
	Send the prepared command to the serial port.
Private Attributes
AccelerationLimiter	acceleration_limiter
Cliff	cliff
Command::Buffer	command_buffer
ecl::Mutex	command_mutex
CoreSensors	core_sensors
Current	current
PacketFinder::BufferType	data_buffer
DiffDrive	diff_drive
DockIR	dock_ir
EventManager	event_manager
Firmware	firmware
GpInput	gp_input
Hardware	hardware
Inertia	inertia
bool	is_alive
bool	is_connected
bool	is_enabled
Command	kobuki_command
PacketFinder	packet_finder
Parameters	parameters
ecl::Serial	serial
bool	shutdown_requested
ecl::Signal< const std::string & >	sig_debug
ecl::Signal< const std::string & >	sig_error
ecl::Signal< const std::string & >	sig_info
ecl::Signal< Command::Buffer & >	sig_raw_data_command
ecl::Signal < PacketFinder::BufferType & >	sig_raw_data_stream
ecl::Signal	sig_stream_data
ecl::Signal< const VersionInfo & >	sig_version_info
ecl::Signal< const std::string & >	sig_warn
ecl::Thread	thread
ThreeAxisGyro	three_axis_gyro
UniqueDeviceID	unique_device_id
int	version_info_reminder

Detailed Description

The core kobuki driver class.

This connects to the outside world via sigslots and get accessors.

Definition at line 70 of file kobuki.hpp.

Constructor & Destructor Documentation

kobuki::Kobuki::Kobuki ( )

Definition at line 50 of file kobuki.cpp.

kobuki::Kobuki::~Kobuki ( )

Shutdown the driver - make sure we wait for the thread to finish.

Definition at line 62 of file kobuki.cpp.

Member Function Documentation

Battery kobuki::Kobuki::batteryStatus ( ) const [inline]

Definition at line 94 of file kobuki.hpp.

bool kobuki::Kobuki::disable ( )

Disable power to the motors.

Definition at line 504 of file kobuki.cpp.

bool kobuki::Kobuki::enable ( )

Enable power to the motors.

Definition at line 498 of file kobuki.cpp.

double kobuki::Kobuki::getAngularVelocity ( ) const

Definition at line 376 of file kobuki.cpp.

Cliff::Data kobuki::Kobuki::getCliffData ( ) const [inline]

Definition at line 101 of file kobuki.hpp.

CoreSensors::Data kobuki::Kobuki::getCoreSensorData ( ) const [inline]

Definition at line 99 of file kobuki.hpp.

Current::Data kobuki::Kobuki::getCurrentData ( ) const [inline]

Definition at line 102 of file kobuki.hpp.

DockIR::Data kobuki::Kobuki::getDockIRData ( ) const [inline]

Definition at line 100 of file kobuki.hpp.

GpInput::Data kobuki::Kobuki::getGpInputData ( ) const [inline]

Definition at line 104 of file kobuki.hpp.

ecl::Angle< double > kobuki::Kobuki::getHeading ( ) const

Definition at line 368 of file kobuki.cpp.

Inertia::Data kobuki::Kobuki::getInertiaData ( ) const [inline]

Definition at line 103 of file kobuki.hpp.

ThreeAxisGyro::Data kobuki::Kobuki::getRawInertiaData ( ) const [inline]

Definition at line 105 of file kobuki.hpp.

void kobuki::Kobuki::getWheelJointStates	(	double &	wheel_left_angle,
		double &	wheel_left_angle_rate,
		double &	wheel_right_angle,
		double &	wheel_right_angle_rate
	)

Definition at line 391 of file kobuki.cpp.

void kobuki::Kobuki::init ( Parameters & parameters ) throw (ecl::StandardException)

Definition at line 70 of file kobuki.cpp.

bool kobuki::Kobuki::isAlive ( ) const [inline]

Whether the connection to the robot is alive and currently streaming.

Definition at line 80 of file kobuki.hpp.

bool kobuki::Kobuki::isEnabled ( ) const [inline]

Whether the motor power is enabled or disabled.

Definition at line 82 of file kobuki.hpp.

bool kobuki::Kobuki::isShutdown ( ) const [inline]

Whether the worker thread is alive or not.

Definition at line 81 of file kobuki.hpp.

void kobuki::Kobuki::playSoundSequence ( const enum SoundSequences & number )

Definition at line 436 of file kobuki.cpp.

void kobuki::Kobuki::printSigSlotConnections ( ) const

Print a list of all relevant sigslot connections.

This includes both the kobuki driver signals as well as externally connected slots. Useful for when you need to check if any of your connections are dangling (often happens when you typo the name of the sigslots connection).

Definition at line 520 of file kobuki.cpp.

void kobuki::Kobuki::resetOdometry ( )

Definition at line 386 of file kobuki.cpp.

void kobuki::Kobuki::sendBaseControlCommand ( ) [private]

Definition at line 446 of file kobuki.cpp.

void kobuki::Kobuki::sendCommand ( Command command ) [private]

Send the prepared command to the serial port.

Need to be a bit careful here, because we have no control over how the user is calling this - they may be calling from different threads (this is so for kobuki_node), so we mutex protect it here rather than relying on the user to do so above.

Parameters:

command : prepared command template (see Command's static member functions).

Definition at line 468 of file kobuki.cpp.

void kobuki::Kobuki::setBaseControl	(	const double &	linear_velocity,
		const double &	angular_velocity
	)

Definition at line 441 of file kobuki.cpp.

void kobuki::Kobuki::setDigitalOutput ( const DigitalOutput & digital_output )

Definition at line 423 of file kobuki.cpp.

void kobuki::Kobuki::setExternalPower ( const DigitalOutput & digital_output )

Definition at line 427 of file kobuki.cpp.

void kobuki::Kobuki::setLed	(	const enum LedNumber &	number,
		const enum LedColour &	colour
	)

Definition at line 418 of file kobuki.cpp.

void kobuki::Kobuki::shutdown ( ) [inline]

Gently terminate the worker thread.

Definition at line 85 of file kobuki.hpp.

void kobuki::Kobuki::spin ( )

Performs a scan looking for incoming data packets.

Sits on the device waiting for incoming and then parses it, and signals that an update has occured.

Or, if in simulation, just loopsback the motor devices.

Definition at line 146 of file kobuki.cpp.

void kobuki::Kobuki::updateOdometry	(	ecl::Pose2D< double > &	pose_update,
		ecl::linear_algebra::Vector3d &	pose_update_rates
	)

Use the current sensor data (encoders and gyro) to calculate an update for the odometry.

This fuses current sensor data with the last updated odometry state to produce the new odometry state. This will be usually done in the slot callback to the stream_data signal.

It is important that this is called every time a data packet is received from the robot.

Parameters: