It groups the base joints together. More...

#include <YouBotBase.hpp>

Public Member Functions
void	doJointCommutation ()
	does the sine commutation of the base joints More...

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="../config/")

virtual	~YouBotBase ()

Public Attributes
FourSwedishWheelOmniBaseKinematic	youBotBaseKinematic
	This class represents the kinematic of the YouBot. More...

Private Member Functions
void	commutationFirmware148 ()
	does the commutation of the arm joints with firmware 1.48 and below More...

void	commutationFirmware200 ()
	does the commutation of the arm joints with firmware 2.0 More...

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 76 of file YouBotBase.hpp.

Constructor & Destructor Documentation

youbot::YouBotBase::YouBotBase	(	const std::string	name,
		const std::string	configFilePath = `"../config/"`
	)

Definition at line 55 of file YouBotBase.cpp.

youbot::YouBotBase::~YouBotBase ( )

virtual

Definition at line 84 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 461 of file YouBotBase.cpp.

void youbot::YouBotBase::commutationFirmware200 ( )

private

does the commutation of the arm joints with firmware 2.0

Definition at line 377 of file YouBotBase.cpp.

void youbot::YouBotBase::doJointCommutation ( )

does the sine commutation of the base joints

Definition at line 95 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 110 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 123 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 195 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 268 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 300 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 332 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 364 of file YouBotBase.cpp.

void youbot::YouBotBase::initializeJoints ( )

private

Definition at line 537 of file YouBotBase.cpp.

void youbot::YouBotBase::initializeKinematic ( )

private

Definition at line 690 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 150 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 223 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 250 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 283 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 315 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 347 of file YouBotBase.cpp.

Member Data Documentation

std::string youbot::YouBotBase::actualFirmwareVersionAllJoints

private

Definition at line 186 of file YouBotBase.hpp.

int youbot::YouBotBase::alternativeControllerType

private

Definition at line 178 of file YouBotBase.hpp.

boost::scoped_ptr<ConfigFile> youbot::YouBotBase::configfile

private

Definition at line 172 of file YouBotBase.hpp.

int youbot::YouBotBase::controllerType

private

Definition at line 176 of file YouBotBase.hpp.

EthercatMasterInterface& youbot::YouBotBase::ethercatMaster

private

Definition at line 180 of file YouBotBase.hpp.

EthercatMasterWithThread* youbot::YouBotBase::ethercatMasterWithThread

private

Definition at line 182 of file YouBotBase.hpp.

boost::ptr_vector<YouBotJoint> youbot::YouBotBase::joints

private

Definition at line 174 of file YouBotBase.hpp.

std::vector<std::string> youbot::YouBotBase::supportedFirmwareVersions

private

Definition at line 184 of file YouBotBase.hpp.

FourSwedishWheelOmniBaseKinematic youbot::YouBotBase::youBotBaseKinematic

This class represents the kinematic of the YouBot.

Definition at line 114 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