#include <diff_drive.hpp>

Public Member Functions
	DiffDrive ()

void	getWheelJointStates (double &wheel_left_angle, double &wheel_left_angle_rate, double &wheel_right_angle, double &wheel_right_angle_rate)

const ecl::DifferentialDrive::Kinematics &	kinematics ()

std::vector< double >	pointVelocity () const

void	reset ()

void	setVelocityCommands (const double &vx, const double &wz)

void	update (const uint16_t &time_stamp, const uint16_t &left_encoder, const uint16_t &right_encoder, ecl::LegacyPose2D< double > &pose_update, ecl::linear_algebra::Vector3d &pose_update_rates)
	Updates the odometry from firmware stamps and encoders. More...

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)

void	velocityCommands (const std::vector< short > &cmd)

std::vector< short >	velocityCommands ()

double	wheel_bias () const

Private Member Functions
short	bound (const double &value)

Private Attributes
double	bias

ecl::DifferentialDrive::Kinematics	diff_drive_kinematics

int	imu_heading_offset

double	last_diff_time

double	last_rad_left

double	last_rad_right

unsigned short	last_tick_left

unsigned short	last_tick_right

unsigned short	last_timestamp

double	last_velocity_left

double	last_velocity_right

std::vector< double >	point_velocity

double	radius

double	speed

ecl::Mutex	state_mutex

const double	tick_to_rad

ecl::Mutex	velocity_mutex

double	wheel_radius

Detailed Description

Definition at line 38 of file diff_drive.hpp.

Constructor & Destructor Documentation

kobuki::DiffDrive::DiffDrive ( )

Definition at line 25 of file diff_drive.cpp.

Member Function Documentation

short kobuki::DiffDrive::bound ( const double & value )

private

Definition at line 187 of file diff_drive.cpp.

void kobuki::DiffDrive::getWheelJointStates	(	double &	wheel_left_angle,
		double &	wheel_left_angle_rate,
		double &	wheel_right_angle,
		double &	wheel_right_angle_rate
	)

Definition at line 114 of file diff_drive.cpp.

const ecl::DifferentialDrive::Kinematics& kobuki::DiffDrive::kinematics ( )

inline

Definition at line 41 of file diff_drive.hpp.

std::vector< double > kobuki::DiffDrive::pointVelocity ( ) const

Definition at line 183 of file diff_drive.cpp.

void kobuki::DiffDrive::reset ( )

Definition at line 105 of file diff_drive.cpp.

void kobuki::DiffDrive::setVelocityCommands	(	const double &	vx,
		const double &	wz
	)

Definition at line 124 of file diff_drive.cpp.

void kobuki::DiffDrive::update	(	const uint16_t &	time_stamp,
		const uint16_t &	left_encoder,
		const uint16_t &	right_encoder,
		ecl::LegacyPose2D< double > &	pose_update,
		ecl::linear_algebra::Vector3d &	pose_update_rates
	)

Updates the odometry from firmware stamps and encoders.

Really horrible - could do with an overhaul.

Parameters

time_stamp
left_encoder
right_encoder
pose_update
pose_update_rates

Definition at line 52 of file diff_drive.cpp.

void kobuki::DiffDrive::velocityCommands	(	const double &	vx,
		const double &	wz
	)

Definition at line 133 of file diff_drive.cpp.

void kobuki::DiffDrive::velocityCommands	(	const short &	cmd_speed,
		const short &	cmd_radius
	)

Definition at line 166 of file diff_drive.cpp.

void kobuki::DiffDrive::velocityCommands ( const std::vector< double > & cmd )

inline

Definition at line 53 of file diff_drive.hpp.

void kobuki::DiffDrive::velocityCommands ( const std::vector< short > & cmd )

inline

Definition at line 54 of file diff_drive.hpp.

std::vector< short > kobuki::DiffDrive::velocityCommands ( )

Definition at line 174 of file diff_drive.cpp.

double kobuki::DiffDrive::wheel_bias ( ) const

inline

Definition at line 65 of file diff_drive.hpp.

Member Data Documentation

double kobuki::DiffDrive::bias

private

Definition at line 79 of file diff_drive.hpp.

ecl::DifferentialDrive::Kinematics kobuki::DiffDrive::diff_drive_kinematics

private

Definition at line 84 of file diff_drive.hpp.

int kobuki::DiffDrive::imu_heading_offset

private

Definition at line 81 of file diff_drive.hpp.

double kobuki::DiffDrive::last_diff_time

private

Definition at line 70 of file diff_drive.hpp.

double kobuki::DiffDrive::last_rad_left

private

Definition at line 73 of file diff_drive.hpp.

double kobuki::DiffDrive::last_rad_right

private

Definition at line 73 of file diff_drive.hpp.

unsigned short kobuki::DiffDrive::last_tick_left

private

Definition at line 72 of file diff_drive.hpp.

unsigned short kobuki::DiffDrive::last_tick_right

private

Definition at line 72 of file diff_drive.hpp.

unsigned short kobuki::DiffDrive::last_timestamp

private

Definition at line 68 of file diff_drive.hpp.

double kobuki::DiffDrive::last_velocity_left

private

Definition at line 69 of file diff_drive.hpp.

double kobuki::DiffDrive::last_velocity_right

private

Definition at line 69 of file diff_drive.hpp.

std::vector<double> kobuki::DiffDrive::point_velocity

private

Definition at line 76 of file diff_drive.hpp.

double kobuki::DiffDrive::radius

private

Definition at line 77 of file diff_drive.hpp.

double kobuki::DiffDrive::speed

private

Definition at line 78 of file diff_drive.hpp.

ecl::Mutex kobuki::DiffDrive::state_mutex

private

Definition at line 85 of file diff_drive.hpp.

const double kobuki::DiffDrive::tick_to_rad

private

Definition at line 82 of file diff_drive.hpp.

ecl::Mutex kobuki::DiffDrive::velocity_mutex

private

Definition at line 85 of file diff_drive.hpp.

double kobuki::DiffDrive::wheel_radius

private

Definition at line 80 of file diff_drive.hpp.

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