Fawkes API
Fawkes Development Version
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MotorInterface Fawkes BlackBoard Interface. More...
#include <>>
Classes | |
class | AcquireControlMessage |
AcquireControlMessage Fawkes BlackBoard Interface Message. More... | |
class | DriveRPMMessage |
DriveRPMMessage Fawkes BlackBoard Interface Message. More... | |
class | GotoMessage |
GotoMessage Fawkes BlackBoard Interface Message. More... | |
class | LinTransRotMessage |
LinTransRotMessage Fawkes BlackBoard Interface Message. More... | |
class | OrbitMessage |
OrbitMessage Fawkes BlackBoard Interface Message. More... | |
class | ResetOdometryMessage |
ResetOdometryMessage Fawkes BlackBoard Interface Message. More... | |
class | RotMessage |
RotMessage Fawkes BlackBoard Interface Message. More... | |
class | SetMotorStateMessage |
SetMotorStateMessage Fawkes BlackBoard Interface Message. More... | |
class | SetOdometryMessage |
SetOdometryMessage Fawkes BlackBoard Interface Message. More... | |
class | TransMessage |
TransMessage Fawkes BlackBoard Interface Message. More... | |
class | TransRotMessage |
TransRotMessage Fawkes BlackBoard Interface Message. More... | |
Public Member Functions | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. More... | |
uint32_t | motor_state () const |
Get motor_state value. More... | |
void | set_motor_state (const uint32_t new_motor_state) |
Set motor_state value. More... | |
size_t | maxlenof_motor_state () const |
Get maximum length of motor_state value. More... | |
uint32_t | drive_mode () const |
Get drive_mode value. More... | |
void | set_drive_mode (const uint32_t new_drive_mode) |
Set drive_mode value. More... | |
size_t | maxlenof_drive_mode () const |
Get maximum length of drive_mode value. More... | |
int32_t | right_rpm () const |
Get right_rpm value. More... | |
void | set_right_rpm (const int32_t new_right_rpm) |
Set right_rpm value. More... | |
size_t | maxlenof_right_rpm () const |
Get maximum length of right_rpm value. More... | |
int32_t | rear_rpm () const |
Get rear_rpm value. More... | |
void | set_rear_rpm (const int32_t new_rear_rpm) |
Set rear_rpm value. More... | |
size_t | maxlenof_rear_rpm () const |
Get maximum length of rear_rpm value. More... | |
int32_t | left_rpm () const |
Get left_rpm value. More... | |
void | set_left_rpm (const int32_t new_left_rpm) |
Set left_rpm value. More... | |
size_t | maxlenof_left_rpm () const |
Get maximum length of left_rpm value. More... | |
float | odometry_path_length () const |
Get odometry_path_length value. More... | |
void | set_odometry_path_length (const float new_odometry_path_length) |
Set odometry_path_length value. More... | |
size_t | maxlenof_odometry_path_length () const |
Get maximum length of odometry_path_length value. More... | |
float | odometry_position_x () const |
Get odometry_position_x value. More... | |
void | set_odometry_position_x (const float new_odometry_position_x) |
Set odometry_position_x value. More... | |
size_t | maxlenof_odometry_position_x () const |
Get maximum length of odometry_position_x value. More... | |
float | odometry_position_y () const |
Get odometry_position_y value. More... | |
void | set_odometry_position_y (const float new_odometry_position_y) |
Set odometry_position_y value. More... | |
size_t | maxlenof_odometry_position_y () const |
Get maximum length of odometry_position_y value. More... | |
float | odometry_orientation () const |
Get odometry_orientation value. More... | |
void | set_odometry_orientation (const float new_odometry_orientation) |
Set odometry_orientation value. More... | |
size_t | maxlenof_odometry_orientation () const |
Get maximum length of odometry_orientation value. More... | |
float | vx () const |
Get vx value. More... | |
void | set_vx (const float new_vx) |
Set vx value. More... | |
size_t | maxlenof_vx () const |
Get maximum length of vx value. More... | |
float | vy () const |
Get vy value. More... | |
void | set_vy (const float new_vy) |
Set vy value. More... | |
size_t | maxlenof_vy () const |
Get maximum length of vy value. More... | |
float | omega () const |
Get omega value. More... | |
void | set_omega (const float new_omega) |
Set omega value. More... | |
size_t | maxlenof_omega () const |
Get maximum length of omega value. More... | |
float | des_vx () const |
Get des_vx value. More... | |
void | set_des_vx (const float new_des_vx) |
Set des_vx value. More... | |
size_t | maxlenof_des_vx () const |
Get maximum length of des_vx value. More... | |
float | des_vy () const |
Get des_vy value. More... | |
void | set_des_vy (const float new_des_vy) |
Set des_vy value. More... | |
size_t | maxlenof_des_vy () const |
Get maximum length of des_vy value. More... | |
float | des_omega () const |
Get des_omega value. More... | |
void | set_des_omega (const float new_des_omega) |
Set des_omega value. More... | |
size_t | maxlenof_des_omega () const |
Get maximum length of des_omega value. More... | |
uint32_t | controller () const |
Get controller value. More... | |
void | set_controller (const uint32_t new_controller) |
Set controller value. More... | |
size_t | maxlenof_controller () const |
Get maximum length of controller value. More... | |
char * | controller_thread_name () const |
Get controller_thread_name value. More... | |
void | set_controller_thread_name (const char *new_controller_thread_name) |
Set controller_thread_name value. More... | |
size_t | maxlenof_controller_thread_name () const |
Get maximum length of controller_thread_name value. More... | |
virtual Message * | create_message (const char *type) const |
Create message based on type name. More... | |
virtual void | copy_values (const Interface *other) |
Copy values from other interface. More... | |
virtual const char * | enum_tostring (const char *enumtype, int val) const |
Convert arbitrary enum value to string. More... | |
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virtual | ~Interface () |
Destructor. More... | |
bool | oftype (const char *interface_type) const |
Check if interface is of given type. More... | |
const void * | datachunk () const |
Get data chunk. More... | |
unsigned int | datasize () const |
Get data size. More... | |
const char * | type () const |
Get type of interface. More... | |
const char * | id () const |
Get identifier of interface. More... | |
const char * | uid () const |
Get unique identifier of interface. More... | |
unsigned short | serial () const |
Get instance serial of interface. More... | |
unsigned int | mem_serial () const |
Get memory serial of interface. More... | |
bool | operator== (Interface &comp) const |
Check equality of two interfaces. More... | |
const unsigned char * | hash () const |
Get interface hash. More... | |
size_t | hash_size () const |
Get size of interface hash. More... | |
const char * | hash_printable () const |
Get printable interface hash. More... | |
bool | is_writer () const |
Check if this is a writing instance. More... | |
void | set_validity (bool valid) |
Mark this interface invalid. More... | |
bool | is_valid () const |
Check validity of interface. More... | |
const char * | owner () const |
Get owner of interface. More... | |
void | set_from_chunk (void *chunk) |
Set from a raw data chunk. More... | |
void | resize_buffers (unsigned int num_buffers) |
Resize buffer array. More... | |
unsigned int | num_buffers () const |
Get number of buffers. More... | |
void | copy_shared_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. More... | |
void | copy_private_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. More... | |
void | read_from_buffer (unsigned int buffer) |
Copy data from buffer to private memory. More... | |
int | compare_buffers (unsigned int buffer) |
Compare buffer to private memory. More... | |
Time | buffer_timestamp (unsigned int buffer) |
Get time of a buffer. More... | |
void | buffer_timestamp (unsigned int buffer, Time *timestamp) |
Get time of a buffer. More... | |
void | read () |
Read from BlackBoard into local copy. More... | |
void | write () |
Write from local copy into BlackBoard memory. More... | |
bool | has_writer () const |
Check if there is a writer for the interface. More... | |
unsigned int | num_readers () const |
Get the number of readers. More... | |
std::string | writer () const |
Get owner name of writing interface instance. More... | |
std::list< std::string > | readers () const |
Get owner names of reading interface instances. More... | |
bool | changed () const |
Check if data has been changed. More... | |
const Time * | timestamp () const |
Get timestamp of last write. More... | |
void | set_auto_timestamping (bool enabled) |
Enable or disable automated timestamping. More... | |
void | set_timestamp (const Time *t=NULL) |
Set timestamp. More... | |
void | set_clock (Clock *clock) |
Set clock to use for timestamping. More... | |
void | mark_data_changed () |
Mark data as changed. More... | |
std::list< const char * > | get_message_types () |
Obtain a list of textual representations of the message types available for this interface. More... | |
unsigned int | msgq_enqueue (Message *message) |
Enqueue message at end of queue. More... | |
unsigned int | msgq_enqueue_copy (Message *message) |
Enqueue copy of message at end of queue. More... | |
void | msgq_remove (Message *message) |
Remove message from queue. More... | |
void | msgq_remove (unsigned int message_id) |
Remove message from queue. More... | |
unsigned int | msgq_size () |
Get size of message queue. More... | |
void | msgq_flush () |
Flush all messages. More... | |
void | msgq_lock () |
Lock message queue. More... | |
bool | msgq_try_lock () |
Try to lock message queue. More... | |
void | msgq_unlock () |
Unlock message queue. More... | |
void | msgq_pop () |
Erase first message from queue. More... | |
Message * | msgq_first () |
Get the first message from the message queue. More... | |
bool | msgq_empty () |
Check if queue is empty. More... | |
void | msgq_append (Message *message) |
Enqueue message. More... | |
template<class MessageType > | |
bool | msgq_first_is () |
Check if first message has desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first () |
Get first message casted to the desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first (MessageType *&msg) |
Get first message casted to the desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first_safe (MessageType *&msg) throw () |
Get first message casted to the desired type without exceptions. More... | |
MessageQueue::MessageIterator | msgq_begin () |
Get start iterator for message queue. More... | |
MessageQueue::MessageIterator | msgq_end () |
Get end iterator for message queue. More... | |
InterfaceFieldIterator | fields () |
Get iterator over all fields of this interface instance. More... | |
InterfaceFieldIterator | fields_end () |
Invalid iterator. More... | |
unsigned int | num_fields () |
Get the number of fields in the interface. More... | |
Static Public Attributes | |
static const uint32_t | MOTOR_ENABLED = 0u |
MOTOR_ENABLED constant. More... | |
static const uint32_t | MOTOR_DISABLED = 1u |
MOTOR_DISABLED constant. More... | |
static const uint32_t | DRIVE_MODE_RPM = 1u |
DRIVE_MODE_RPM constant. More... | |
static const uint32_t | DRIVE_MODE_TRANS = 2u |
DRIVE_MODE_TRANS constant. More... | |
static const uint32_t | DRIVE_MODE_ROT = 3u |
DRIVE_MODE_ROT constant. More... | |
static const uint32_t | DRIVE_MODE_TRANS_ROT = 4u |
DRIVE_MODE_TRANS_ROT constant. More... | |
static const uint32_t | DRIVE_MODE_ORBIT = 5u |
DRIVE_MODE_ORBIT constant. More... | |
static const uint32_t | DRIVE_MODE_LINE_TRANS_ROT = 6u |
DRIVE_MODE_LINE_TRANS_ROT constant. More... | |
Additional Inherited Members | |
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static void | parse_uid (const char *uid, std::string &type, std::string &id) |
Parse UID to type and ID strings. More... | |
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Interface () | |
Constructor. More... | |
void | set_hash (unsigned char *ihash) |
Set hash. More... | |
void | add_fieldinfo (interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0) |
Add an entry to the field info list. More... | |
void | add_messageinfo (const char *name) |
Add an entry to the message info list. More... | |
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void * | data_ptr |
Pointer to local memory storage. More... | |
unsigned int | data_size |
Minimal data size to hold data storage. More... | |
bool | data_changed |
Indicator if data has changed. More... | |
interface_data_ts_t * | data_ts |
Pointer to data casted to timestamp struct. More... | |
MotorInterface Fawkes BlackBoard Interface.
This interface is currently prepared best for a holonomic robot. It will need modifications or a split to support differential drives.
Definition at line 33 of file MotorInterface.h.
uint32_t fawkes::MotorInterface::controller | ( | ) | const |
Get controller value.
The ID of the controller. The controller ID is the instance serial of the sending interface. Only from this interface instance command messages are accepted.
Definition at line 640 of file MotorInterface.cpp.
char * fawkes::MotorInterface::controller_thread_name | ( | ) | const |
Get controller_thread_name value.
The name of the controlling thread, for easier debugging. This is informative only and actually two threads may share an interface instance (although this should be avoided since the interface locking has to be reproduced for these threads then).
Definition at line 678 of file MotorInterface.cpp.
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 745 of file MotorInterface.cpp.
References fawkes::Message::type(), and fawkes::Interface::type().
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virtual |
Create message based on type name.
This will create a new message of the given type. The type must be given without the InterfaceName:: prefix but just the plain class name of the message.
type | message type |
UnknownTypeException | thrown if this interface cannot create a message of the given type. |
Implements fawkes::Interface.
Definition at line 710 of file MotorInterface.cpp.
float fawkes::MotorInterface::des_omega | ( | ) | const |
Get des_omega value.
Desired Rotation speed of the robot in rad/s.
Definition at line 604 of file MotorInterface.cpp.
Referenced by fawkes::BaseMotorInstruct::drive(), ColliThread::loop(), and fawkes::SelectDriveMode::update().
float fawkes::MotorInterface::des_vx | ( | ) | const |
Get des_vx value.
Desired VX of the robot in m/s. Forward.
Definition at line 534 of file MotorInterface.cpp.
Referenced by fawkes::BaseMotorInstruct::drive(), ColliThread::loop(), and fawkes::SelectDriveMode::update().
float fawkes::MotorInterface::des_vy | ( | ) | const |
Get des_vy value.
Desired VY of the robot in m/s. Left.
Definition at line 569 of file MotorInterface.cpp.
Referenced by fawkes::BaseMotorInstruct::drive(), and ColliThread::loop().
uint32_t fawkes::MotorInterface::drive_mode | ( | ) | const |
Get drive_mode value.
The current drive mode of the motor.
Definition at line 149 of file MotorInterface.cpp.
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virtual |
Convert arbitrary enum value to string.
Given the string representation of the enum type and the value this method returns the string representation of the specific value, or the string UNKNOWN if the value is not defined. An exception is thrown if the enum type is invalid.
enumtype | enum type as string |
val | value to convert |
UnknownTypeException | thrown if enumtype is not specified for interface. |
Implements fawkes::Interface.
Definition at line 756 of file MotorInterface.cpp.
int32_t fawkes::MotorInterface::left_rpm | ( | ) | const |
Get left_rpm value.
RPM of the motor on the left front of the robot.
Definition at line 254 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_controller | ( | ) | const |
Get maximum length of controller value.
Definition at line 650 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_controller_thread_name | ( | ) | const |
Get maximum length of controller_thread_name value.
Definition at line 688 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_des_omega | ( | ) | const |
Get maximum length of des_omega value.
Definition at line 614 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_des_vx | ( | ) | const |
Get maximum length of des_vx value.
Definition at line 544 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_des_vy | ( | ) | const |
Get maximum length of des_vy value.
Definition at line 579 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_drive_mode | ( | ) | const |
Get maximum length of drive_mode value.
Definition at line 159 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_left_rpm | ( | ) | const |
Get maximum length of left_rpm value.
Definition at line 264 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_motor_state | ( | ) | const |
Get maximum length of motor_state value.
Definition at line 124 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_odometry_orientation | ( | ) | const |
Get maximum length of odometry_orientation value.
Definition at line 404 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_odometry_path_length | ( | ) | const |
Get maximum length of odometry_path_length value.
Definition at line 299 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_odometry_position_x | ( | ) | const |
Get maximum length of odometry_position_x value.
Definition at line 334 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_odometry_position_y | ( | ) | const |
Get maximum length of odometry_position_y value.
Definition at line 369 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_omega | ( | ) | const |
Get maximum length of omega value.
Definition at line 509 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_rear_rpm | ( | ) | const |
Get maximum length of rear_rpm value.
Definition at line 229 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_right_rpm | ( | ) | const |
Get maximum length of right_rpm value.
Definition at line 194 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_vx | ( | ) | const |
Get maximum length of vx value.
Definition at line 439 of file MotorInterface.cpp.
size_t fawkes::MotorInterface::maxlenof_vy | ( | ) | const |
Get maximum length of vy value.
Definition at line 474 of file MotorInterface.cpp.
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virtual |
Check if message is valid and can be enqueued.
message | Message to check |
Implements fawkes::Interface.
Definition at line 2241 of file MotorInterface.cpp.
uint32_t fawkes::MotorInterface::motor_state | ( | ) | const |
Get motor_state value.
The current state of the motor.
Definition at line 114 of file MotorInterface.cpp.
Referenced by JoystickTeleOpThread::loop(), and RobotinoActThread::loop().
float fawkes::MotorInterface::odometry_orientation | ( | ) | const |
Get odometry_orientation value.
The actual orientation of the robot relative to the orientation at the last ResetOdometry.
Definition at line 394 of file MotorInterface.cpp.
Referenced by ColliThread::colli_relgoto(), ColliThread::colli_stop(), ROSOdometryThread::finalize(), ColliThread::loop(), and fawkes::SelectDriveMode::update().
float fawkes::MotorInterface::odometry_path_length | ( | ) | const |
Get odometry_path_length value.
The actual length of the robot's trajectory since the last ResetOdometry.
Definition at line 289 of file MotorInterface.cpp.
float fawkes::MotorInterface::odometry_position_x | ( | ) | const |
Get odometry_position_x value.
The actual position of the robot relative to the position at the last ResetOdometry.
Definition at line 324 of file MotorInterface.cpp.
Referenced by ColliThread::colli_relgoto(), ColliThread::colli_stop(), ROSOdometryThread::finalize(), ColliThread::loop(), and fawkes::SelectDriveMode::update().
float fawkes::MotorInterface::odometry_position_y | ( | ) | const |
Get odometry_position_y value.
The actual position of the robot relative to the position at the last ResetOdometry.
Definition at line 359 of file MotorInterface.cpp.
Referenced by ColliThread::colli_relgoto(), ColliThread::colli_stop(), ROSOdometryThread::finalize(), ColliThread::loop(), and fawkes::SelectDriveMode::update().
float fawkes::MotorInterface::omega | ( | ) | const |
Get omega value.
Rotation speed of the robot in rad/s.
Definition at line 499 of file MotorInterface.cpp.
Referenced by ROSOdometryThread::finalize(), ColliThread::loop(), and fawkes::SelectDriveMode::update().
int32_t fawkes::MotorInterface::rear_rpm | ( | ) | const |
Get rear_rpm value.
RPM of motor on the rear of the robot.
Definition at line 219 of file MotorInterface.cpp.
int32_t fawkes::MotorInterface::right_rpm | ( | ) | const |
Get right_rpm value.
RPM of the motor on the right front of the robot.
Definition at line 184 of file MotorInterface.cpp.
void fawkes::MotorInterface::set_controller | ( | const uint32_t | new_controller | ) |
Set controller value.
The ID of the controller. The controller ID is the instance serial of the sending interface. Only from this interface instance command messages are accepted.
new_controller | new controller value |
Definition at line 663 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::MotorInterface::set_controller_thread_name | ( | const char * | new_controller_thread_name | ) |
Set controller_thread_name value.
The name of the controlling thread, for easier debugging. This is informative only and actually two threads may share an interface instance (although this should be avoided since the interface locking has to be reproduced for these threads then).
new_controller_thread_name | new controller_thread_name value |
Definition at line 702 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::MotorInterface::set_des_omega | ( | const float | new_des_omega | ) |
Set des_omega value.
Desired Rotation speed of the robot in rad/s.
new_des_omega | new des_omega value |
Definition at line 626 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by RobotinoActThread::loop(), and RobotinoSimThread::loop().
void fawkes::MotorInterface::set_des_vx | ( | const float | new_des_vx | ) |
Set des_vx value.
Desired VX of the robot in m/s. Forward.
new_des_vx | new des_vx value |
Definition at line 556 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by RobotinoActThread::loop(), and RobotinoSimThread::loop().
void fawkes::MotorInterface::set_des_vy | ( | const float | new_des_vy | ) |
Set des_vy value.
Desired VY of the robot in m/s. Left.
new_des_vy | new des_vy value |
Definition at line 591 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by RobotinoActThread::loop(), and RobotinoSimThread::loop().
void fawkes::MotorInterface::set_drive_mode | ( | const uint32_t | new_drive_mode | ) |
Set drive_mode value.
The current drive mode of the motor.
new_drive_mode | new drive_mode value |
Definition at line 171 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::MotorInterface::set_left_rpm | ( | const int32_t | new_left_rpm | ) |
Set left_rpm value.
RPM of the motor on the left front of the robot.
new_left_rpm | new left_rpm value |
Definition at line 276 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::MotorInterface::set_motor_state | ( | const uint32_t | new_motor_state | ) |
Set motor_state value.
The current state of the motor.
new_motor_state | new motor_state value |
Definition at line 136 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by RobotinoActThread::init(), and RobotinoActThread::loop().
void fawkes::MotorInterface::set_odometry_orientation | ( | const float | new_odometry_orientation | ) |
Set odometry_orientation value.
The actual orientation of the robot relative to the orientation at the last ResetOdometry.
new_odometry_orientation | new odometry_orientation value |
Definition at line 416 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by RobotinoActThread::loop(), RobotinoSimThread::loop(), and PlayerMotorPositionMapper::sync_player_to_fawkes().
void fawkes::MotorInterface::set_odometry_path_length | ( | const float | new_odometry_path_length | ) |
Set odometry_path_length value.
The actual length of the robot's trajectory since the last ResetOdometry.
new_odometry_path_length | new odometry_path_length value |
Definition at line 311 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by RobotinoSimThread::loop().
void fawkes::MotorInterface::set_odometry_position_x | ( | const float | new_odometry_position_x | ) |
Set odometry_position_x value.
The actual position of the robot relative to the position at the last ResetOdometry.
new_odometry_position_x | new odometry_position_x value |
Definition at line 346 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by RobotinoActThread::loop(), RobotinoSimThread::loop(), and PlayerMotorPositionMapper::sync_player_to_fawkes().
void fawkes::MotorInterface::set_odometry_position_y | ( | const float | new_odometry_position_y | ) |
Set odometry_position_y value.
The actual position of the robot relative to the position at the last ResetOdometry.
new_odometry_position_y | new odometry_position_y value |
Definition at line 381 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by RobotinoActThread::loop(), RobotinoSimThread::loop(), and PlayerMotorPositionMapper::sync_player_to_fawkes().
void fawkes::MotorInterface::set_omega | ( | const float | new_omega | ) |
Set omega value.
Rotation speed of the robot in rad/s.
new_omega | new omega value |
Definition at line 521 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by RobotinoActThread::loop(), and RobotinoSimThread::loop().
void fawkes::MotorInterface::set_rear_rpm | ( | const int32_t | new_rear_rpm | ) |
Set rear_rpm value.
RPM of motor on the rear of the robot.
new_rear_rpm | new rear_rpm value |
Definition at line 241 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::MotorInterface::set_right_rpm | ( | const int32_t | new_right_rpm | ) |
Set right_rpm value.
RPM of the motor on the right front of the robot.
new_right_rpm | new right_rpm value |
Definition at line 206 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::MotorInterface::set_vx | ( | const float | new_vx | ) |
Set vx value.
VX of the robot in m/s. Forward.
new_vx | new vx value |
Definition at line 451 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by RobotinoActThread::loop(), and RobotinoSimThread::loop().
void fawkes::MotorInterface::set_vy | ( | const float | new_vy | ) |
Set vy value.
VY of the robot in m/s. Left.
new_vy | new vy value |
Definition at line 486 of file MotorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by RobotinoActThread::loop(), and RobotinoSimThread::loop().
float fawkes::MotorInterface::vx | ( | ) | const |
Get vx value.
VX of the robot in m/s. Forward.
Definition at line 429 of file MotorInterface.cpp.
Referenced by ROSOdometryThread::finalize(), ColliThread::loop(), and fawkes::SelectDriveMode::update().
float fawkes::MotorInterface::vy | ( | ) | const |
Get vy value.
VY of the robot in m/s. Left.
Definition at line 464 of file MotorInterface.cpp.
Referenced by ROSOdometryThread::finalize(), ColliThread::loop(), and fawkes::SelectDriveMode::update().
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DRIVE_MODE_LINE_TRANS_ROT constant.
Definition at line 47 of file MotorInterface.h.
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DRIVE_MODE_ORBIT constant.
Definition at line 46 of file MotorInterface.h.
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DRIVE_MODE_ROT constant.
Definition at line 44 of file MotorInterface.h.
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DRIVE_MODE_RPM constant.
Definition at line 42 of file MotorInterface.h.
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DRIVE_MODE_TRANS constant.
Definition at line 43 of file MotorInterface.h.
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DRIVE_MODE_TRANS_ROT constant.
Definition at line 45 of file MotorInterface.h.
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MOTOR_DISABLED constant.
Definition at line 41 of file MotorInterface.h.
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MOTOR_ENABLED constant.
Definition at line 40 of file MotorInterface.h.