#include <dock_drive.hpp>

Public Member Functions
bool	canRun () const
void	disable ()
	DockDrive ()
void	enable ()
std::string	getDebugStr () const
std::string	getDebugStream ()
RobotDockingState::State	getState () const
std::string	getStateStr () const
double	getVX () const
double	getWZ () const
bool	init ()
bool	isEnabled () const
void	modeShift (const std::string &mode)
void	setMinAbsV (double mav)
void	setMinAbsW (double maw)
void	update (const std::vector< unsigned char > &signal, const unsigned char &bumper, const unsigned char &charger, const ecl::LegacyPose2D< double > &pose)
	Updates the odometry from firmware stamps and encoders.
void	velocityCommands (const double &vx, const double &wz)
	~DockDrive ()
Protected Member Functions
void	aligned (RobotDockingState::State &state, double &vx, double &wz, const std::vector< unsigned char > &signal_filt, std::string &debug_str)
void	bumped (RobotDockingState::State &nstate, double &nvx, double &nwz, int &bump_count)
void	computePoseUpdate (ecl::LegacyPose2D< double > &pose_update, const ecl::LegacyPose2D< double > &pose)
	compute pose update from previouse pose and current pose
RobotDockingState::State	determineRobotLocation (const std::vector< unsigned char > &signal_filt, const unsigned char &charger)
void	filterIRSensor (std::vector< unsigned char > &signal_filt, const std::vector< unsigned char > &signal)
void	find_stream (RobotDockingState::State &state, double &vx, double &wz, const std::vector< unsigned char > &signal_filt)
void	generateDebugMessage (const std::vector< unsigned char > &signal_filt, const unsigned char &bumper, const unsigned char &charger, const ecl::LegacyPose2D< double > &pose_update, const std::string &debug_str)
void	get_stream (RobotDockingState::State &state, double &vx, double &wz, const std::vector< unsigned char > &signal_filt)
void	idle (RobotDockingState::State &state, double &vx, double &wz)
void	processBumpChargeEvent (const unsigned char &bumper, const unsigned char &charger)
void	scan (RobotDockingState::State &state, double &vx, double &wz, const std::vector< unsigned char > &signal_filt, const ecl::LegacyPose2D< double > &pose_update, std::string &debug_str)
void	updateVelocity (const std::vector< unsigned char > &signal_filt, const ecl::LegacyPose2D< double > &pose_update, std::string &debug_str)
bool	validateSignal (const std::vector< unsigned char > &signal_filt, const unsigned int state)
Private Member Functions
std::string	binary (unsigned char number) const
void	setVel (double v, double w)
Private Attributes
int	bump_remainder
bool	can_run
std::string	debug_output
std::string	debug_str
int	dock_detector
int	dock_stabilizer
bool	is_enabled
double	min_abs_v
double	min_abs_w
std::vector< std::vector < unsigned char > >	past_signals
ecl::LegacyPose2D< double >	pose_priv
std::vector< std::string >	ROBOT_STATE_STR
double	rotated
unsigned int	signal_window
RobotDockingState::State	state
std::string	state_str
double	vx
double	wz

Detailed Description

Definition at line 66 of file dock_drive.hpp.

Constructor & Destructor Documentation

kobuki::DockDrive::DockDrive ( )

Definition at line 58 of file dock_drive.cpp.

kobuki::DockDrive::~DockDrive ( )

Definition at line 87 of file dock_drive.cpp.

Member Function Documentation

void kobuki::DockDrive::aligned	(	RobotDockingState::State &	state,
		double &	vx,
		double &	wz,
		const std::vector< unsigned char > &	signal_filt,
		std::string &	debug_str
	)		`[protected]`

Definition at line 250 of file dock_drive_states.cpp.

std::string kobuki::DockDrive::binary ( unsigned char number ) const [private]

Definition at line 100 of file dock_drive_debug.cpp.

void kobuki::DockDrive::bumped	(	RobotDockingState::State &	nstate,
		double &	nvx,
		double &	nwz,
		int &	bump_count
	)		`[protected]`

Definition at line 323 of file dock_drive_states.cpp.

bool kobuki::DockDrive::canRun ( ) const [inline]

Definition at line 73 of file dock_drive.hpp.

void kobuki::DockDrive::computePoseUpdate	(	ecl::LegacyPose2D< double > &	pose_update,
		const ecl::LegacyPose2D< double > &	pose
	)		`[protected]`

compute pose update from previouse pose and current pose

Parameters:

pose	update. this variable get filled after this function
pose	- current pose

Definition at line 148 of file dock_drive.cpp.

RobotDockingState::State kobuki::DockDrive::determineRobotLocation	(	const std::vector< unsigned char > &	signal_filt,
		const unsigned char &	charger
	)		`[protected]`

void kobuki::DockDrive::disable ( ) [inline]

Definition at line 76 of file dock_drive.hpp.

void kobuki::DockDrive::enable ( ) [inline]

Definition at line 75 of file dock_drive.hpp.

void kobuki::DockDrive::filterIRSensor	(	std::vector< unsigned char > &	signal_filt,
		const std::vector< unsigned char > &	signal
	)		`[protected]`

pushing into signal into signal window. and go through the signal window to find what has detected

Parameters:

signal_filt	- this get filled out after the function.
signal	- the raw data from robot

Definition at line 167 of file dock_drive.cpp.

void kobuki::DockDrive::find_stream	(	RobotDockingState::State &	state,
		double &	vx,
		double &	wz,
		const std::vector< unsigned char > &	signal_filt
	)		`[protected]`

Definition at line 147 of file dock_drive_states.cpp.

void kobuki::DockDrive::generateDebugMessage	(	const std::vector< unsigned char > &	signal_filt,
		const unsigned char &	bumper,
		const unsigned char &	charger,
		const ecl::LegacyPose2D< double > &	pose_update,
		const std::string &	debug_str
	)		`[protected]`

Definition at line 48 of file dock_drive_debug.cpp.

void kobuki::DockDrive::get_stream	(	RobotDockingState::State &	state,
		double &	vx,
		double &	wz,
		const std::vector< unsigned char > &	signal_filt
	)		`[protected]`

Definition at line 198 of file dock_drive_states.cpp.

std::string kobuki::DockDrive::getDebugStr ( ) const [inline]

Definition at line 97 of file dock_drive.hpp.

std::string kobuki::DockDrive::getDebugStream ( ) [inline]

Definition at line 106 of file dock_drive.hpp.

RobotDockingState::State kobuki::DockDrive::getState ( ) const [inline]

Definition at line 95 of file dock_drive.hpp.

std::string kobuki::DockDrive::getStateStr ( ) const [inline]

Definition at line 96 of file dock_drive.hpp.

double kobuki::DockDrive::getVX ( ) const [inline]

Definition at line 89 of file dock_drive.hpp.

double kobuki::DockDrive::getWZ ( ) const [inline]

Definition at line 90 of file dock_drive.hpp.

void kobuki::DockDrive::idle	(	RobotDockingState::State &	state,
		double &	vx,
		double &	wz
	)		`[protected]`

Definition at line 61 of file dock_drive_states.cpp.

bool kobuki::DockDrive::init ( ) [inline]

Definition at line 71 of file dock_drive.hpp.

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

Definition at line 72 of file dock_drive.hpp.

void kobuki::DockDrive::modeShift ( const std::string & mode )

Definition at line 95 of file dock_drive.cpp.

void kobuki::DockDrive::processBumpChargeEvent	(	const unsigned char &	bumper,
		const unsigned char &	charger
	)		`[protected]`

Definition at line 198 of file dock_drive.cpp.

void kobuki::DockDrive::scan	(	RobotDockingState::State &	state,
		double &	vx,
		double &	wz,
		const std::vector< unsigned char > &	signal_filt,
		const ecl::LegacyPose2D< double > &	pose_update,
		std::string &	debug_str
	)		`[protected]`

Definition at line 78 of file dock_drive_states.cpp.

void kobuki::DockDrive::setMinAbsV ( double mav ) [inline]

Definition at line 102 of file dock_drive.hpp.

void kobuki::DockDrive::setMinAbsW ( double maw ) [inline]

Definition at line 103 of file dock_drive.hpp.

void kobuki::DockDrive::setVel	(	double	v,
		double	w
	)		`[private]`

Definition at line 89 of file dock_drive.cpp.

void kobuki::DockDrive::update	(	const std::vector< unsigned char > &	signal,
		const unsigned char &	bumper,
		const unsigned char &	charger,
		const ecl::LegacyPose2D< double > &	pose
	)

Updates the odometry from firmware stamps and encoders.

Really horrible - could do with an overhaul.

Parameters:

dock_ir	signal
bumper	sensor
charger	sensor
current	pose

Definition at line 114 of file dock_drive.cpp.

void kobuki::DockDrive::updateVelocity	(	const std::vector< unsigned char > &	signal_filt,
		const ecl::LegacyPose2D< double > &	pose_update,
		std::string &	debug_str
	)		`[protected]`