MipResources::KorebotROS Class Reference
[Motion module]

Represents an Koremotor differential drive. More...

#include <KorebotROS.h>

Inheritance diagram for MipResources::KorebotROS:

List of all members.

Public Member Functions

KorebotROS (int argc, const char *argv[], KorebotROSPar *krp)

Default constructor.

~KorebotROS ()

Destructor.

ResourcePlate getPlate () const

Gets the plate.

void setWheelCommands (Decimal leftAngVel, Decimal rightAngVel)

Sets the angular velocities of the left and right wheels.

DiffDriveEncoderReading getEncoders ()

Gets the DiffDriveEncoderReading of the encoders of the left and right wheels.

void resetEncoders ()

Sets to 0 the encoders of the left and right wheels.

bool setStateKorebotROS (MotionModuleState correctedState, bool setPastTimeStamp=false, Time pastTimeStamp=Time())

This method emulates the setState method of class MotionModule without launching the algorithm DiffDriveOdometer. It sets the pose and velocities of the robot. If setPastTimeStamp is true and then it sets the pose and velocities referred pastTimeStamp and accordingly updates the current pose and velocities. If setPastTimeStamp is false it sets the current pose and velocities.

void _localizationStepKorebotROS ()

Embedding function to initialize the odometry and save the first odometry message.

MotionModuleTState _providedLocStepKorebotROS ()

It initializes the odometry, at the first run, and computes the odometry step.

void _initOdometerKorebotROS ()

This method initializes the odometry structures.

void _computeVelocities (DiffDriveEncoderReading &currReading)

It takes the encoder measurements and compute the linear and angular speed.

void _intVelocities ()

Integrate the velocities (here linear and angular velocities are in the KorebotROS workspace).

void _setWheelCommandsKorebotROS ()

Apply commands to ROS gazebo robot.

void _providedLocSetKorebotROS (MotionModuleState state)

MotionModuleTState getStateKorebotROS ()

Gets the current state (pose, velocities and timeStamp).

MotionModuleTState getState (Time ts)

Gets the state refferred to a certain timestamp, if inside the log may be interpolated, if after (but before now) a new state is got, otherwise fatal is called.

bool setStateKorebotROS (MotionModuleState correctedState, MotionModuleState &finalState, bool setPastTimeStamp=false, Time pastTimeStamp=Time())

Sets the pose and velocities of the robot. If setPastTimeStamp is true and then it sets the pose and velocities referred pastTimeStamp and accordingly updates the current pose and velocities. If setPastTimeStamp is false it sets the current pose and velocities.

void setCommandsKorebotROS (const Decimal &drive, const Decimal &turnrate, bool scaled=true)

Sets velocity commands.

void setCommandsKorebotROS (const Decimal &drive, const Decimal &turnrate, MotionModuleTState &finalTState, bool scaled=true)

Sets velocity commands.

void setCommandsAndTStateKorebotROS (MotionModuleState correctedState, const Decimal &drive, const Decimal &turnrate, MotionModuleTState &finalTState, bool scaled=true, bool setPastTimeStamp=false, Time pastTimeStamp=Time())

Sets velocity commands and TState.

void _providedSetCommandsKorebotROS (const Decimal &drive, const Decimal &turnrate)

It sets the commands and ask for applying them.

Protected Attributes

KorebotROSPar * _korePar

KorebotROSVar * _koreVar

long int _leftPulses

long int _rightPulses

Detailed Description

Represents an Koremotor differential drive.

Author:: Marco Cognetti

Todo:: options for korebot

Todo:: change name in koremotor

Todo:: provide reset encoders?

Constructor & Destructor Documentation

MipResources::KorebotROS::KorebotROS	(	int	argc,
		const char *	argv[],
		KorebotROSPar *	krp
	)

Default constructor.

Parameters:

	argc	Argc.
	argv	Argv.

MipResources::KorebotROS::~KorebotROS ( )

Destructor.

Member Function Documentation

ResourcePlate MipResources::KorebotROS::getPlate ( ) const [inline, virtual]

Gets the plate.

Implements MipResources::DiffDrive.

void MipResources::KorebotROS::setWheelCommands	(	Decimal	leftAngVel,
		Decimal	rightAngVel
	)			`[virtual]`

Sets the angular velocities of the left and right wheels.

Parameters:

	leftAngVel	Angular velocity to drive the left wheel.
	rightAngVel	Angular velocity to drive the right wheel.

Implements MipResources::DiffDrive.

DiffDriveEncoderReading MipResources::KorebotROS::getEncoders ( ) [virtual]

Gets the DiffDriveEncoderReading of the encoders of the left and right wheels.

Returns:: DiffDriveEncoderReading.

Note:: Here the return item is slightly different from the usual one ( DiffDriveEncoderReading = leftPulses, rightPulses, leftTime, rightTime) Since in ROS the time in wheels is taken at the instant, it is redundant to return leftTime and rightTime. Here, one returns the actualTime and the deltaTime instead of leftTime, rightTime

Implements MipResources::DiffDrive.

void MipResources::KorebotROS::resetEncoders ( )

Sets to 0 the encoders of the left and right wheels.

bool MipResources::KorebotROS::setStateKorebotROS	(	MotionModuleState	correctedState,
		bool	setPastTimeStamp = `false`,
		Time	pastTimeStamp = `Time()`
	)

This method emulates the setState method of class MotionModule without launching the algorithm DiffDriveOdometer. It sets the pose and velocities of the robot. If setPastTimeStamp is true and then it sets the pose and velocities referred pastTimeStamp and accordingly updates the current pose and velocities. If setPastTimeStamp is false it sets the current pose and velocities.

Returns:: true if ok, false if the timestamp refers to the future or other errors occurred.

Parameters:

`[in]`	&state	Pose velocities to set and timeStamp they refer to.
`[in]`	&setPastTimeStamp	If true it sets the pose and velocities referred pastTimeStamp and accordingly updates the current pose and velocities. If false it sets the current pose and velocities.
`[in]`	&pastTimeStamp	Time stamp in the past, make sense only if setPastTimeStamp is true .

void MipResources::KorebotROS::_localizationStepKorebotROS ( )

Embedding function to initialize the odometry and save the first odometry message.

MotionModuleTState MipResources::KorebotROS::_providedLocStepKorebotROS ( )

It initializes the odometry, at the first run, and computes the odometry step.

void MipResources::KorebotROS::_initOdometerKorebotROS ( )

This method initializes the odometry structures.

void MipResources::KorebotROS::_computeVelocities ( DiffDriveEncoderReading & currReading )

It takes the encoder measurements and compute the linear and angular speed.

Parameters:

[in] &currReading Current reading by the encoders

void MipResources::KorebotROS::_intVelocities ( )

Integrate the velocities (here linear and angular velocities are in the KorebotROS workspace).

void MipResources::KorebotROS::_setWheelCommandsKorebotROS ( )

Apply commands to ROS gazebo robot.

void MipResources::KorebotROS::_providedLocSetKorebotROS ( MotionModuleState state )

MotionModuleTState MipResources::KorebotROS::getStateKorebotROS ( )

Gets the current state (pose, velocities and timeStamp).

Returns:: The state (pose and velocities).

MotionModuleTState MipResources::KorebotROS::getState ( Time ts ) [virtual]

Gets the state refferred to a certain timestamp, if inside the log may be interpolated, if after (but before now) a new state is got, otherwise fatal is called.

Returns:: Returned TState.

Parameters:

[in] ts The returned TState must have this timestamp.

Reimplemented from MipResources::MotionModule.

bool MipResources::KorebotROS::setStateKorebotROS	(	MotionModuleState	correctedState,
		MotionModuleState &	finalState,
		bool	setPastTimeStamp = `false`,
		Time	pastTimeStamp = `Time()`
	)

Sets the pose and velocities of the robot. If setPastTimeStamp is true and then it sets the pose and velocities referred pastTimeStamp and accordingly updates the current pose and velocities. If setPastTimeStamp is false it sets the current pose and velocities.

Returns:: true if ok, false if the timestamp refers to the future or other errors occurred.

Parameters:

`[in]`	&state	Pose velocities to set and timeStamp they refer to.
`[out]`	&finalState	Actual MotionModuleTState after the correction.
`[in]`	&setPastTimeStamp	If true it sets the pose and velocities referred pastTimeStamp and accordingly updates the current pose and velocities. If false it sets the current pose and velocities.
`[in]`	&pastTimeStamp	Time stamp in the past, make sense only if setPastTimeStamp is true .

void MipResources::KorebotROS::setCommandsKorebotROS	(	const Decimal &	drive,
		const Decimal &	turnrate,
		bool	scaled = `true`
	)

Sets velocity commands.

Note:: This method must be implemented by the derived class on the basis of the real structure of the module.

Parameters:

	drive	Linear velocity command.
	turnrate	Sngular velocity command.
	scaled	If true the actual velocity commands are scaled whenever a saturation is detected.

void MipResources::KorebotROS::setCommandsKorebotROS	(	const Decimal &	drive,
		const Decimal &	turnrate,
		MotionModuleTState &	finalTState,
		bool	scaled = `true`
	)

Sets velocity commands.

Note:: This method must be implemented by the derived class on the basis of the real structure of the module.

Parameters:

`[in]`	drive	Linear velocity command.
`[in]`	turnrate	Angular velocity command.
`[out]`	&finalTState	Actual MotionModuleTState.
`[in]`	scaled	If true the actual velocity commands are scaled whenever a saturation is detected.

void MipResources::KorebotROS::setCommandsAndTStateKorebotROS	(	MotionModuleState	correctedState,
		const Decimal &	drive,
		const Decimal &	turnrate,
		MotionModuleTState &	finalTState,
		bool	scaled = `true`,
		bool	setPastTimeStamp = `false`,
		Time	pastTimeStamp = `Time()`
	)

Sets velocity commands and TState.

Note:: This method must be implemented by the derived class on the basis of the real structure of the module.

Parameters:

`[in]`	correctedState	Pose velocities to set and timeStamp they refer to.
`[in]`	drive	Linear velocity command.
`[in]`	turnrate	Angular velocity command.
`[out]`	&finalSTtate	Actual MotionModuleTState after the correction.
`[in]`	scaled	If true the actual velocity commands are scaled whenever a saturation is detected.
`[in]`	&setPastTimeStamp	If true it sets the pose and velocities referred pastTimeStamp and accordingly updates the current pose and velocities. If false it sets the current pose and velocities.
`[in]`	&pastTimeStamp	Time stamp in the past, make sense only if setPastTimeStamp is true .

void MipResources::KorebotROS::_providedSetCommandsKorebotROS	(	const Decimal &	drive,
		const Decimal &	turnrate
	)

It sets the commands and ask for applying them.

Parameters:

`[in]`	&drive	Linear velocity one wants to apply
`[in]`	&turnrate	Angular velocity one wants to apply

Member Data Documentation

KorebotROSPar* MipResources::KorebotROS::_korePar [protected]

Parameters, implemented class.

KorebotROSVar* MipResources::KorebotROS::_koreVar [protected]

Variables, implemented class.

long int MipResources::KorebotROS::_leftPulses [protected]

long int MipResources::KorebotROS::_rightPulses [protected]

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

resources/MotionModule/KorebotROS.h
resources/MotionModule/KorebotROS.cpp


Public Member Functions
	KorebotROS (int argc, const char argv[], KorebotROSPar krp)
	Default constructor.
	~KorebotROS ()
	Destructor.
ResourcePlate	getPlate () const
	Gets the plate.
void	setWheelCommands (Decimal leftAngVel, Decimal rightAngVel)
	Sets the angular velocities of the left and right wheels.
DiffDriveEncoderReading	getEncoders ()
	Gets the DiffDriveEncoderReading of the encoders of the left and right wheels.
void	resetEncoders ()
	Sets to 0 the encoders of the left and right wheels.
bool	setStateKorebotROS (MotionModuleState correctedState, bool setPastTimeStamp=false, Time pastTimeStamp=Time())
	This method emulates the setState method of class MotionModule without launching the algorithm DiffDriveOdometer. It sets the pose and velocities of the robot. If setPastTimeStamp is true and then it sets the pose and velocities referred pastTimeStamp and accordingly updates the current pose and velocities. If setPastTimeStamp is false it sets the current pose and velocities.
void	_localizationStepKorebotROS ()
	Embedding function to initialize the odometry and save the first odometry message.
MotionModuleTState	_providedLocStepKorebotROS ()
	It initializes the odometry, at the first run, and computes the odometry step.
void	_initOdometerKorebotROS ()
	This method initializes the odometry structures.
void	_computeVelocities (DiffDriveEncoderReading &currReading)
	It takes the encoder measurements and compute the linear and angular speed.
void	_intVelocities ()
	Integrate the velocities (here linear and angular velocities are in the KorebotROS workspace).
void	_setWheelCommandsKorebotROS ()
	Apply commands to ROS gazebo robot.
void	_providedLocSetKorebotROS (MotionModuleState state)
MotionModuleTState	getStateKorebotROS ()
	Gets the current state (pose, velocities and timeStamp).
MotionModuleTState	getState (Time ts)
	Gets the state refferred to a certain timestamp, if inside the log may be interpolated, if after (but before now) a new state is got, otherwise fatal is called.
bool	setStateKorebotROS (MotionModuleState correctedState, MotionModuleState &finalState, bool setPastTimeStamp=false, Time pastTimeStamp=Time())
	Sets the pose and velocities of the robot. If setPastTimeStamp is true and then it sets the pose and velocities referred pastTimeStamp and accordingly updates the current pose and velocities. If setPastTimeStamp is false it sets the current pose and velocities.
void	setCommandsKorebotROS (const Decimal &drive, const Decimal &turnrate, bool scaled=true)
	Sets velocity commands.
void	setCommandsKorebotROS (const Decimal &drive, const Decimal &turnrate, MotionModuleTState &finalTState, bool scaled=true)
	Sets velocity commands.
void	setCommandsAndTStateKorebotROS (MotionModuleState correctedState, const Decimal &drive, const Decimal &turnrate, MotionModuleTState &finalTState, bool scaled=true, bool setPastTimeStamp=false, Time pastTimeStamp=Time())
	Sets velocity commands and TState.
void	_providedSetCommandsKorebotROS (const Decimal &drive, const Decimal &turnrate)
	It sets the commands and ask for applying them.
Protected Attributes
KorebotROSPar *	_korePar
KorebotROSVar *	_koreVar
long int	_leftPulses
long int	_rightPulses

MipResources::KorebotROS Class Reference [Motion module]

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

MipResources::KorebotROS Class Reference
[Motion module]