.. _program_listing_file__tmp_ws_src_kobuki_core_include_kobuki_core_modules_diff_drive.hpp:

Program Listing for File diff_drive.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_kobuki_core_include_kobuki_core_modules_diff_drive.hpp>` (``/tmp/ws/src/kobuki_core/include/kobuki_core/modules/diff_drive.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   /*****************************************************************************
   ** Ifdefs
   *****************************************************************************/
   
   #ifndef KOBUKI_CORE_DIFF_DRIVE_HPP_
   #define KOBUKI_CORE_DIFF_DRIVE_HPP_
   
   /*****************************************************************************
   ** Includes
   *****************************************************************************/
   
   #include <vector>
   #include <climits>
   #include <stdint.h>
   #include <ecl/geometry.hpp>
   #include <ecl/mobile_robot.hpp>
   #include <ecl/threads/mutex.hpp>
   #include "../macros.hpp"
   
   /*****************************************************************************
   ** Namespaces
   *****************************************************************************/
   
   namespace kobuki {
   
   /*****************************************************************************
   ** Interfaces
   *****************************************************************************/
   
   class kobuki_PUBLIC DiffDrive {
   public:
     DiffDrive();
     const ecl::DifferentialDrive::Kinematics& kinematics() { return diff_drive_kinematics; }
     void update(const uint16_t &time_stamp,
                 const uint16_t &left_encoder,
                 const uint16_t &right_encoder,
                 ecl::linear_algebra::Vector3d &pose_update,
                 ecl::linear_algebra::Vector3d &pose_update_rates);
     void reset();
     void getWheelJointStates(double &wheel_left_angle, double &wheel_left_angle_rate,
                              double &wheel_right_angle, double &wheel_right_angle_rate);
     void setVelocityCommands(const double &vx, const double &wz);
     void velocityCommands(const double &vx, const double &wz);
     void velocityCommands(const short &cmd_speed, const short &cmd_radius);
     void velocityCommands(const std::vector<double> &cmd) { velocityCommands(cmd[0], cmd[1]); }
     void velocityCommands(const std::vector<short>  &cmd) { velocityCommands(cmd[0], cmd[1]); }
   
     /*********************
     ** Command Accessors
     **********************/
     std::vector<short> velocityCommands(); // (speed, radius), in [mm/s] and [mm]
     std::vector<double> pointVelocity() const; // (vx, wz), in [m/s] and [rad/s]
   
     /*********************
     ** Property Accessors
     **********************/
     double wheel_bias() const { return bias; }
   
   private:
     unsigned short last_timestamp;
     double last_velocity_left, last_velocity_right;
     double last_diff_time;
   
     unsigned short last_tick_left, last_tick_right;
     double last_rad_left, last_rad_right;
   
     //double v, w; // in [m/s] and [rad/s]
     std::vector<double> point_velocity; // (vx, wz), in [m/s] and [rad/s]
     double radius; // in [mm]
     double speed;  // in [mm/s]
     double bias; //wheelbase, wheel_to_wheel, in [m]
     double wheel_radius; // in [m]
     const double tick_to_rad;
   
     ecl::DifferentialDrive::Kinematics diff_drive_kinematics;
     ecl::Mutex velocity_mutex, state_mutex;
   
     // Utility
     short bound(const double &value);
   };
   
   } // namespace kobuki
   
   #endif /* KOBUKI_CORE_DIFF_DRIVE_HPP_ */