MipResources::Unicycle3D Class Reference
[Motion module 3D]

#include <MotionModule3D.h>

Inheritance diagram for MipResources::Unicycle3D:

List of all members.

Public Member Functions
virtual void	odometryDiff (MIPMatrix &RobStat, Decimal *ENCTime)
	gets the differential odometry (odometry since last call of this function)
virtual void	updateOdometry (MIPMatrix &RobStat, Decimal *ENCTime)=0
	update the odometry and oldOdometry for the differentiasl odometry
virtual ResourcePlate	getPlate () const =0
	get resource id (mandatory), it must be defined for all implemented resource
virtual void	velCmd (Decimal drive, Decimal turnrate)=0
	velocity commands
virtual void	getVel (Decimal &drive, Decimal &turnrate)=0
	velocity values
Protected Attributes
Unicycle3DPar *	_uniPar
Unicycle3DVar *	_uniVar

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Member Function Documentation

virtual void MipResources::Unicycle3D::odometryDiff	(	MIPMatrix &	RobStat,
		Decimal *	ENCTime
	)			[inline, virtual]

gets the differential odometry (odometry since last call of this function)

virtual void MipResources::Unicycle3D::updateOdometry	(	MIPMatrix &	RobStat,
		Decimal *	ENCTime
	)			[pure virtual]

update the odometry and oldOdometry for the differentiasl odometry

virtual ResourcePlate MipResources::Unicycle3D::getPlate

(

)

const [pure virtual]

get resource id (mandatory), it must be defined for all implemented resource

Implements MipResources::MotionModule3D.

virtual void MipResources::Unicycle3D::velCmd	(	Decimal	drive,
		Decimal	turnrate
	)			[pure virtual]

velocity commands

Parameters:

	drive	linear velocity command
	turnrate	angular velocity command

virtual void MipResources::Unicycle3D::getVel	(	Decimal &	drive,
		Decimal &	turnrate
	)			[pure virtual]

velocity values

Parameters:

	drive	linear velocity current value
	turnrate	angular velocity value

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Member Data Documentation

Unicycle3DPar* MipResources::Unicycle3D::_uniPar [protected]

Unicycle3DVar* MipResources::Unicycle3D::_uniVar [protected]

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

• resources/MotionModule3D/MotionModule3D.h