#include <YouBotBase.hpp>

Public Member Functions
void	doJointCommutation ()
	does the sine commutation of the base joints
YouBotJoint &	getBaseJoint (const unsigned int baseJointNumber)
void	getBasePosition (quantity< si::length > &longitudinalPosition, quantity< si::length > &transversalPosition, quantity< plane_angle > &orientation)
void	getBaseVelocity (quantity< si::velocity > &longitudinalVelocity, quantity< si::velocity > &transversalVelocity, quantity< si::angular_velocity > &angularVelocity)
virtual void	getJointData (std::vector< JointSensedAngle > &data)
virtual void	getJointData (std::vector< JointSensedVelocity > &data)
virtual void	getJointData (std::vector< JointSensedCurrent > &data)
virtual void	getJointData (std::vector< JointSensedTorque > &data)
void	setBasePosition (const quantity< si::length > &longitudinalPosition, const quantity< si::length > &transversalPosition, const quantity< plane_angle > &orientation)
void	setBaseVelocity (const quantity< si::velocity > &longitudinalVelocity, const quantity< si::velocity > &transversalVelocity, const quantity< si::angular_velocity > &angularVelocity)
virtual void	setJointData (const std::vector< JointAngleSetpoint > &JointData)
virtual void	setJointData (const std::vector< JointVelocitySetpoint > &JointData)
virtual void	setJointData (const std::vector< JointCurrentSetpoint > &JointData)
virtual void	setJointData (const std::vector< JointTorqueSetpoint > &JointData)
	YouBotBase (const std::string name, const std::string configFilePath)
virtual	~YouBotBase ()
Public Attributes
FourSwedishWheelOmniBaseKinematic	youBotBaseKinematic
	This class represents the kinematic of the YouBot.
Private Member Functions
void	commutationFirmware148 ()
	does the commutation of the arm joints with firmware 1.48 and below
void	commutationFirmware200 ()
	does the commutation of the arm joints with firmware 2.0
void	initializeJoints ()
void	initializeKinematic ()
YouBotBase &	operator= (const YouBotBase &source)
	YouBotBase (const YouBotBase &source)
Private Attributes
std::string	actualFirmwareVersionAllJoints
int	alternativeControllerType
boost::scoped_ptr< ConfigFile >	configfile
int	controllerType
EthercatMasterInterface &	ethercatMaster
EthercatMasterWithThread *	ethercatMasterWithThread
boost::ptr_vector< YouBotJoint >	joints
std::vector< std::string >	supportedFirmwareVersions

Detailed Description

It groups the base joints together

Definition at line 80 of file YouBotBase.hpp.

Constructor & Destructor Documentation

youbot::YouBotBase::YouBotBase	(	const std::string	name,
		const std::string	configFilePath
	)

Definition at line 55 of file YouBotBase.cpp.

youbot::YouBotBase::~YouBotBase ( ) [virtual]

Definition at line 90 of file YouBotBase.cpp.

youbot::YouBotBase::YouBotBase ( const YouBotBase & source ) [private]

Member Function Documentation

void youbot::YouBotBase::commutationFirmware148 ( ) [private]

does the commutation of the arm joints with firmware 1.48 and below

Definition at line 512 of file YouBotBase.cpp.

void youbot::YouBotBase::commutationFirmware200 ( ) [private]

does the commutation of the arm joints with firmware 2.0

Definition at line 417 of file YouBotBase.cpp.

void youbot::YouBotBase::doJointCommutation ( )

does the sine commutation of the base joints

Definition at line 104 of file YouBotBase.cpp.

YouBotJoint & youbot::YouBotBase::getBaseJoint ( const unsigned int baseJointNumber )

return a joint form the base

Parameters:

baseJointNumber 1-4 for the base joints

Definition at line 125 of file YouBotBase.cpp.

void youbot::YouBotBase::getBasePosition	(	quantity< si::length > &	longitudinalPosition,
		quantity< si::length > &	transversalPosition,
		quantity< plane_angle > &	orientation
	)

gets the cartesien base position which is calculated from the odometry

Parameters:

longitudinalPosition	is the forward or backward position
transversalPosition	is the sideway position
orientation	is the rotation around the center of the YouBot

Definition at line 140 of file YouBotBase.cpp.

void youbot::YouBotBase::getBaseVelocity	(	quantity< si::velocity > &	longitudinalVelocity,
		quantity< si::velocity > &	transversalVelocity,
		quantity< si::angular_velocity > &	angularVelocity
	)

gets the cartesien base velocity

Parameters:

longitudinalVelocity	is the forward or backward velocity
transversalVelocity	is the sideway velocity
angularVelocity	is the rotational velocity around the center of the YouBot

Definition at line 219 of file YouBotBase.cpp.

void youbot::YouBotBase::getJointData ( std::vector< JointSensedAngle > & data ) [virtual]

gets the position or angle of all base joints which have been calculated from the actual encoder value These values are all read at the same time from the different joints

Parameters:

data	returns the angles by reference

Definition at line 301 of file YouBotBase.cpp.

void youbot::YouBotBase::getJointData ( std::vector< JointSensedVelocity > & data ) [virtual]

gets the velocities of all base joints which have been calculated from the actual encoder values These values are all read at the same time from the different joints

Parameters:

data	returns the velocities by reference

Definition at line 335 of file YouBotBase.cpp.

void youbot::YouBotBase::getJointData ( std::vector< JointSensedCurrent > & data ) [virtual]

gets the motor currents of all base joints which have been measured by a hal sensor These values are all read at the same time from the different joints

Parameters:

data	returns the actual motor currents by reference

Definition at line 369 of file YouBotBase.cpp.

void youbot::YouBotBase::getJointData ( std::vector< JointSensedTorque > & data ) [virtual]

gets the joint torque of all base joints which have been calculated from the current These values are all read at the same time from the different joints

Parameters:

data	returns the actual joint torque by reference

Definition at line 403 of file YouBotBase.cpp.

void youbot::YouBotBase::initializeJoints ( ) [private]

Definition at line 598 of file YouBotBase.cpp.

void youbot::YouBotBase::initializeKinematic ( ) [private]

Definition at line 779 of file YouBotBase.cpp.

YouBotBase& youbot::YouBotBase::operator= ( const YouBotBase & source ) [private]

void youbot::YouBotBase::setBasePosition	(	const quantity< si::length > &	longitudinalPosition,
		const quantity< si::length > &	transversalPosition,
		const quantity< plane_angle > &	orientation
	)

sets the cartesien base position

Parameters:

longitudinalPosition	is the forward or backward position
transversalPosition	is the sideway position
orientation	is the rotation around the center of the YouBot

Definition at line 170 of file YouBotBase.cpp.

void youbot::YouBotBase::setBaseVelocity	(	const quantity< si::velocity > &	longitudinalVelocity,
		const quantity< si::velocity > &	transversalVelocity,
		const quantity< si::angular_velocity > &	angularVelocity
	)

commands the base in cartesien velocities

Parameters:

longitudinalVelocity	is the forward or backward velocity
transversalVelocity	is the sideway velocity
angularVelocity	is the rotational velocity around the center of the YouBot

Definition at line 251 of file YouBotBase.cpp.

void youbot::YouBotBase::setJointData ( const std::vector< JointAngleSetpoint > & JointData ) [virtual]

commands positions or angles to all base joints all positions will be set at the same time

Parameters:

JointData the to command positions

Definition at line 282 of file YouBotBase.cpp.

void youbot::YouBotBase::setJointData ( const std::vector< JointVelocitySetpoint > & JointData ) [virtual]

commands velocities to all base joints all velocities will be set at the same time

Parameters:

JointData the to command velocities

Definition at line 317 of file YouBotBase.cpp.

void youbot::YouBotBase::setJointData ( const std::vector< JointCurrentSetpoint > & JointData ) [virtual]

commands current to all base joints all current values will be set at the same time

Parameters:

JointData the to command current

Definition at line 351 of file YouBotBase.cpp.

void youbot::YouBotBase::setJointData ( const std::vector< JointTorqueSetpoint > & JointData ) [virtual]

commands torque to all base joints all torque values will be set at the same time

Parameters:

JointData the to command torque

Definition at line 385 of file YouBotBase.cpp.

Member Data Documentation

std::string youbot::YouBotBase::actualFirmwareVersionAllJoints [private]

Definition at line 195 of file YouBotBase.hpp.

int youbot::YouBotBase::alternativeControllerType [private]

Definition at line 187 of file YouBotBase.hpp.

boost::scoped_ptr<ConfigFile> youbot::YouBotBase::configfile [private]

Definition at line 181 of file YouBotBase.hpp.

int youbot::YouBotBase::controllerType [private]

Definition at line 185 of file YouBotBase.hpp.

EthercatMasterInterface& youbot::YouBotBase::ethercatMaster [private]

Definition at line 189 of file YouBotBase.hpp.

EthercatMasterWithThread* youbot::YouBotBase::ethercatMasterWithThread [private]

Definition at line 191 of file YouBotBase.hpp.

boost::ptr_vector<YouBotJoint> youbot::YouBotBase::joints [private]

Definition at line 183 of file YouBotBase.hpp.

std::vector<std::string> youbot::YouBotBase::supportedFirmwareVersions [private]

Definition at line 193 of file YouBotBase.hpp.

FourSwedishWheelOmniBaseKinematic youbot::YouBotBase::youBotBaseKinematic

This class represents the kinematic of the YouBot.

Definition at line 124 of file YouBotBase.hpp.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation