Keyboard remote control for our robot core (mobile base). More...

Public Member Functions
std::string &	getFirmwareVersion ()

std::string &	getHardwareVersion ()

ecl::LegacyPose2D< double >	getPose ()

ecl::LegacyPose2D< double >	getPose ()

std::string &	getSoftwareVersion ()

std::string &	getUDID ()

bool	init ()
	Initialises the node. More...

bool	isAcquired ()

	KobukiManager ()
	Default constructor, needs initialisation. More...

	KobukiManager ()

	KobukiManager (const std::string &device_port)

	KobukiManager ()

	KobukiManager ()

void	processMotion ()

void	processStreamData ()

void	processStreamData ()

void	processStreamData ()

void	processVersionInfo (const kobuki::VersionInfo &version_info)

void	spin ()
	Worker thread loop; sends current velocity command at a fixed rate. More...

void	spin ()

	~KobukiManager ()

	~KobukiManager ()

	~KobukiManager ()

Private Member Functions
void	decrementAngularVelocity ()
	If not already mined, decrement the angular velocities.. More...

void	decrementLinearVelocity ()
	If not already minned, decrement the linear velocities.. More...

void	incrementAngularVelocity ()
	If not already maxxed, increment the angular velocities.. More...

void	incrementLinearVelocity ()
	If not already maxxed, increment the command velocities.. More...

void	keyboardInputLoop ()
	The worker thread function that accepts input keyboard commands. More...

void	processKeyboardInput (char c)
	Process individual keyboard inputs. More...

void	resetVelocity ()

void	restoreTerminal ()

Private Attributes
volatile bool	acquired

double	angular_vel_max

double	angular_vel_step

double	dth

double	dx

std::string	firmware

std::string	hardware

int	key_file_descriptor

kobuki::Kobuki	kobuki

double	linear_vel_max

double	linear_vel_step

std::string	name

struct termios	original_terminal_state

ecl::LegacyPose2D< double >	pose

bool	quit_requested

ecl::Slot	slot_stream_data

ecl::Slot< const kobuki::VersionInfo & >	slot_version_info

std::string	software

ecl::Thread	thread

std::string	udid

double	vx

double	wz

Detailed Description

Keyboard remote control for our robot core (mobile base).

Definition at line 14 of file initialisation.cpp.

Constructor & Destructor Documentation

KobukiManager::KobukiManager ( )

inline

Default constructor, needs initialisation.

Definition at line 16 of file initialisation.cpp.

KobukiManager::KobukiManager ( )

inline

Definition at line 21 of file sigslots.cpp.

KobukiManager::KobukiManager ( )

inline

Definition at line 26 of file simple_loop.cpp.

KobukiManager::~KobukiManager ( )

inline

Definition at line 39 of file simple_loop.cpp.

KobukiManager::KobukiManager ( )

KobukiManager::~KobukiManager ( )

KobukiManager::KobukiManager ( const std::string & device_port )

inline

Definition at line 24 of file version_info.cpp.

KobukiManager::~KobukiManager ( )

inline

Definition at line 36 of file version_info.cpp.

Member Function Documentation

void KobukiManager::decrementAngularVelocity ( )

private

If not already mined, decrement the angular velocities..

Definition at line 342 of file simple_keyop.cpp.

void KobukiManager::decrementLinearVelocity ( )

private

If not already minned, decrement the linear velocities..

Definition at line 318 of file simple_keyop.cpp.

std::string& KobukiManager::getFirmwareVersion ( )

inline

Definition at line 51 of file version_info.cpp.

std::string& KobukiManager::getHardwareVersion ( )

inline

Definition at line 50 of file version_info.cpp.

ecl::LegacyPose2D< double > KobukiManager::getPose ( )

inline

Definition at line 64 of file simple_loop.cpp.

ecl::LegacyPose2D<double> KobukiManager::getPose ( )

std::string& KobukiManager::getSoftwareVersion ( )

inline

Definition at line 52 of file version_info.cpp.

std::string& KobukiManager::getUDID ( )

inline

Definition at line 53 of file version_info.cpp.

void KobukiManager::incrementAngularVelocity ( )

private

If not already maxxed, increment the angular velocities..

Definition at line 330 of file simple_keyop.cpp.

void KobukiManager::incrementLinearVelocity ( )

private

If not already maxxed, increment the command velocities..

Definition at line 306 of file simple_keyop.cpp.

bool KobukiManager::init ( )

Initialises the node.

Definition at line 147 of file simple_keyop.cpp.

bool KobukiManager::isAcquired ( )

inline

Definition at line 49 of file version_info.cpp.

void KobukiManager::keyboardInputLoop ( )

private

The worker thread function that accepts input keyboard commands.

This is ok here - but later it might be a good idea to make a node which posts keyboard events to a topic. Recycle common code if used by many!

Definition at line 217 of file simple_keyop.cpp.

void KobukiManager::processKeyboardInput ( char c )

private

Process individual keyboard inputs.

Parameters

c	keyboard input.

Definition at line 251 of file simple_keyop.cpp.

void KobukiManager::processMotion ( )

inline

Definition at line 58 of file simple_loop.cpp.

void KobukiManager::processStreamData ( )

inline

Definition at line 44 of file simple_loop.cpp.

void KobukiManager::processStreamData ( )

inline

Definition at line 46 of file sigslots.cpp.

void KobukiManager::processStreamData ( )

void KobukiManager::processVersionInfo ( const kobuki::VersionInfo & version_info )

inline

Definition at line 40 of file version_info.cpp.

void KobukiManager::resetVelocity ( )

private

Definition at line 351 of file simple_keyop.cpp.

void KobukiManager::restoreTerminal ( )

private

void KobukiManager::spin ( )

inline

Worker thread loop; sends current velocity command at a fixed rate.

It also process ros functions as well as aborting when requested.

Definition at line 32 of file sigslots.cpp.

void KobukiManager::spin ( )

Member Data Documentation

volatile bool KobukiManager::acquired

private

Definition at line 56 of file version_info.cpp.

double KobukiManager::angular_vel_max

private

Definition at line 92 of file simple_keyop.cpp.

double KobukiManager::angular_vel_step

private

Definition at line 92 of file simple_keyop.cpp.

double KobukiManager::dth

private

Definition at line 69 of file simple_loop.cpp.

double KobukiManager::dx

private

Definition at line 69 of file simple_loop.cpp.

std::string KobukiManager::firmware

private

Definition at line 58 of file version_info.cpp.

std::string KobukiManager::hardware

private

Definition at line 58 of file version_info.cpp.

int KobukiManager::key_file_descriptor

private

Definition at line 112 of file simple_keyop.cpp.

kobuki::Kobuki KobukiManager::kobuki

private

Definition at line 40 of file initialisation.cpp.

double KobukiManager::linear_vel_max

private

Definition at line 91 of file simple_keyop.cpp.

double KobukiManager::linear_vel_step

private

Definition at line 91 of file simple_keyop.cpp.

std::string KobukiManager::name

private

Definition at line 93 of file simple_keyop.cpp.

struct termios KobukiManager::original_terminal_state

private

Definition at line 113 of file simple_keyop.cpp.

ecl::LegacyPose2D< double > KobukiManager::pose

private

Definition at line 70 of file simple_loop.cpp.

bool KobukiManager::quit_requested

private

Definition at line 111 of file simple_keyop.cpp.

ecl::Slot KobukiManager::slot_stream_data

private

Definition at line 53 of file sigslots.cpp.

ecl::Slot<const kobuki::VersionInfo&> KobukiManager::slot_version_info

private

Definition at line 59 of file version_info.cpp.

std::string KobukiManager::software

private

Definition at line 58 of file version_info.cpp.

ecl::Thread KobukiManager::thread

private

Definition at line 114 of file simple_keyop.cpp.

std::string KobukiManager::udid

private

Definition at line 58 of file version_info.cpp.

double KobukiManager::vx

private

Definition at line 86 of file simple_keyop.cpp.

double KobukiManager::wz

private

Definition at line 86 of file simple_keyop.cpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation