MipResources::RemoteKhepera Class Reference
[Mobile robot]

Provides an interface for and IP connection with a remote mobile robot task. More...

#include <RemoteKhepera.h>

Inheritance diagram for MipResources::RemoteKhepera:

List of all members.

Public Member Functions
	RemoteKhepera (int argc, const char *argv[])
	Default constructor.
	~RemoteKhepera ()
	Destructor.
ResourcePlate	getPlate () const
	Gets the plate.
Scan	scan ()
	Gets a scan.
void	startScan (unsigned int num)
	start a continuous scan
void	stopScan ()
	Stops a continuous scan.
UnicyclePar *	unicyclePar ()
	Gets unicycle parameters.
void	velCmd (Decimal drive, Decimal turnrate)
	Sets velocity commands.
void	getVel (Decimal &drive, Decimal &turnrate)
	Gets velocity.
Pose	getPose (void)
	Get the pose.
MotionModuleTState	getMotionState ()
	Get the motion state.
void	setPose (Pose p)
	Sets the pose.
bool	setMotionState (MotionModuleState state, bool setPastTimeStamp=false, Time pastTimeStamp=Time())
	Sets the state.
bool	storedScan (Scan &s, Time timeout)
bool	updatedScan (Scan &s)
bool	updatedScan (Scan &s, MotionModuleTState &state)
bool	updatedState (MotionModuleTState &state, Time &timeStamp)
	Get the current State associated with the input time.
bool	updatedState (MotionModuleTState &state)
	Get the current State associated with the input time.
bool	updatedLastState (MotionModuleTState &state, Time &timeStamp, const Decimal &delta)
	Gets the last state of the robot in that moment.
bool	updatedLastState (MotionModuleTState &state, const Decimal &delta)
	Gets the last state of the robot in that moment.
void	receive ()
	Ignore this function.
void	receiveUDP ()
	Receive function using listener UDP.
void	receiveROS ()
	Receive function using ROS primitives.
void	_syncroTime ()
	Syncronize the measurement times.
RangeSensPar *	rangeSensPar ()
	Gets the parameters of the URG04LX.

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Detailed Description

Provides an interface for and IP connection with a remote mobile robot task.

Author:

Antonio Franchi and Paolo Stegagno (ROS part by Marco Cognetti)

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Constructor & Destructor Documentation

MipResources::RemoteKhepera::RemoteKhepera	(	int	argc,
		const char *	argv[]
	)

Default constructor.

MipResources::RemoteKhepera::~RemoteKhepera

(

)

Destructor.

---

Member Function Documentation

ResourcePlate MipResources::RemoteKhepera::getPlate

(

)

const [inline, virtual]

Gets the plate.

Implements MipResources::Resource.

Scan MipResources::RemoteKhepera::scan

(

)

[inline]

Gets a scan.

Todo:

To implement.

void MipResources::RemoteKhepera::startScan

(

unsigned int

num

)

[virtual]

start a continuous scan

Reimplemented from MipResources::MobileRob.

void MipResources::RemoteKhepera::stopScan

(

)

[virtual]

Stops a continuous scan.

Reimplemented from MipResources::MobileRob.

UnicyclePar * MipResources::RemoteKhepera::unicyclePar

(

)

[virtual]

Gets unicycle parameters.

Reimplemented from MipResources::MobileRob.

void MipResources::RemoteKhepera::velCmd	(	Decimal	drive,
		Decimal	turnrate
	)			[virtual]

Sets velocity commands.

Reimplemented from MipResources::MobileRob.

void MipResources::RemoteKhepera::getVel	(	Decimal &	drive,
		Decimal &	turnrate
	)			[virtual]

Gets velocity.

Parameters:

	drive	Current linear velocity drive (m/s).
	turnrate	Current turnrate (rad/s).

Reimplemented from MipResources::MobileRob.

Pose MipResources::RemoteKhepera::getPose

(

void

)

[virtual]

Get the pose.

Reimplemented from MipResources::MobileRob.

MotionModuleTState MipResources::RemoteKhepera::getMotionState

(

)

[virtual]

Get the motion state.

Reimplemented from MipResources::MobileRob.

void MipResources::RemoteKhepera::setPose

(

Pose

p

)

[virtual]

Sets the pose.

Reimplemented from MipResources::MobileRob.

bool MipResources::RemoteKhepera::setMotionState	(	MotionModuleState	state,
		bool	setPastTimeStamp = false,
		Time	pastTimeStamp = Time()
	)			[virtual]

Sets the state.

Reimplemented from MipResources::MobileRob.

bool MipResources::RemoteKhepera::storedScan	(	Scan &	s,
		Time	timeout
	)			[virtual]

Todo:

Documentation

Reimplemented from MipResources::MobileRob.

bool MipResources::RemoteKhepera::updatedScan

(

Scan &

s

)

[virtual]

Todo:

Documentation

Reimplemented from MipResources::MobileRob.

bool MipResources::RemoteKhepera::updatedScan	(	Scan &	s,
		MotionModuleTState &	state
	)			[virtual]

Todo:

Documentation

Reimplemented from MipResources::MobileRob.

bool MipResources::RemoteKhepera::updatedState	(	MotionModuleTState &	state,
		Time &	timeStamp
	)			[virtual]

Get the current State associated with the input time.

Parameters:

[in]	&timeStamp	Time to be associated
[out]	&state	State associated with input time

Reimplemented from MipResources::MobileRob.

bool MipResources::RemoteKhepera::updatedState

(

MotionModuleTState &

state

)

[virtual]

Get the current State associated with the input time.

Parameters:

[out]

&state

State associated with input time

Reimplemented from MipResources::MobileRob.

bool MipResources::RemoteKhepera::updatedLastState	(	MotionModuleTState &	state,
		Time &	timeStamp,
		const Decimal &	delta
	)			[virtual]

Gets the last state of the robot in that moment.

Parameters:

[in]	&timeStamp	Time to be searched
[in]	&delta	Delta threshold to assign that last odometry data might be associated with timeStamp
[out]	&state	Output of the function. State associated with time It searches the last TState stored and it check if it is close to the given timeStamp. A threshold delta is given in order to check the close constraint

Reimplemented from MipResources::MobileRob.

bool MipResources::RemoteKhepera::updatedLastState	(	MotionModuleTState &	state,
		const Decimal &	delta
	)			[virtual]

Gets the last state of the robot in that moment.

Parameters:

[in]	&timeStamp	Time to be searched
[in]	&delta	Delta threshold to assign that last odometry data might be associated with actual time
[out]	&state	Output of the function. State associated with time It searches the last TState stored and it check if it is close to the given timeStamp. A threshold delta is given in order to check the close constraint

Reimplemented from MipResources::MobileRob.

void MipResources::RemoteKhepera::receive

(

)

Ignore this function.

Note:

extern "C" void RRWork(void* p) needs it to be public

void MipResources::RemoteKhepera::receiveUDP

(

)

Receive function using listener UDP.

void MipResources::RemoteKhepera::receiveROS

(

)

Receive function using ROS primitives.

void MipResources::RemoteKhepera::_syncroTime

(

)

Syncronize the measurement times.

This method adjusts the time assignment in case of reverse parsing of messages (e.g. in receiveROS) Since every message sets its own time as the time executing of the software, the time are taken in a wrong way

Note:

Assumption: _itPTrTStateLog has to point the first item of the list before _parse() method (before insertion of new odometry messages)

RangeSensPar * MipResources::RemoteKhepera::rangeSensPar

(

)

[virtual]

Gets the parameters of the URG04LX.

Returns:

Pointer to the range sensor variables of an URG04LX (NULL if range sensor is not present).

Reimplemented from MipResources::MobileRob.

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

• resources/MobileRob/RemoteKhepera.h
• resources/MobileRob/RemoteKhepera.cpp