MipResources::KheperaServerROSPars Class Reference

Parameters for khepera software. More...

#include <RemKhepServerROS.h>

List of all members.

Public Member Functions
	KheperaServerROSPars ()
	Default constructor.
	KheperaServerROSPars (const string &robotName, const int &debugLevel, const int &urgAct, const string &ltn, const string &tn, const string &nn, const string &imo, GAZEBO_JOINT_PTR jtr, GAZEBO_JOINT_PTR jtl, const Decimal &ws, const Decimal &wd, const string &ct, const Decimal &tm, const Decimal &er)
	Default constructor.
	KheperaServerROSPars (const KheperaServerROSPars &A)
	Copy constructor.
KheperaServerROSPars	operator= (KheperaServerROSPars A)
	Assignment operator =.
string	getRobotName () const
	Get name of the robot.
int	getDebugLevel () const
	Get actual debug level.
int	getUrg04lxActive () const
	Get if the laser is active or not.
string	getLaserTopicName () const
	Get the laser topic name, where subscribing the laser data.
string	getTopicName () const
	Get the topic name where one want to publish (laser) and subscribe data.
string	getNodeName () const
	Get the node name needed by ROSNode resource.
GAZEBO_JOINT_PTR	getLeftWheel ()
	Get the pointer to the left wheel joint.
GAZEBO_JOINT_PTR	getRightWheel ()
	Get the pointer to the right wheel joint.
Decimal	getWheelSeparation () const
	Get the wheel separation in meter.
Decimal	getWheelDiameter () const
	Get the wheel diameter in meter.
string	getIntMethodOdo () const
	Get the integration method one wants to use to integrate encoder measurements.
string	getCommunicationType () const
	Get the communication type.
Decimal	getMaxTorque () const
	Get the maximum torque to be applied to the joints.
Decimal	getEncoderResolution () const
	Get the encoder resolution.

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Detailed Description

Parameters for khepera software.

Author:

Marco Cognetti

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Constructor & Destructor Documentation

KheperaServerROSPars::KheperaServerROSPars

(

)

Default constructor.

KheperaServerROSPars::KheperaServerROSPars	(	const string &	robotName,
		const int &	debugLevel,
		const int &	urgAct,
		const string &	ltn,
		const string &	tn,
		const string &	nn,
		const string &	imo,
		GAZEBO_JOINT_PTR	jtr,
		GAZEBO_JOINT_PTR	jtl,
		const Decimal &	ws,
		const Decimal &	wd,
		const string &	ct,
		const Decimal &	tm,
		const Decimal &	er
	)

Default constructor.

KheperaServerROSPars::KheperaServerROSPars

(

const KheperaServerROSPars &

A

)

Copy constructor.

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Member Function Documentation

KheperaServerROSPars KheperaServerROSPars::operator=

(

KheperaServerROSPars

A

)

Assignment operator =.

string KheperaServerROSPars::getRobotName

(

)

const

Get name of the robot.

Returns:

Name of the robot

int KheperaServerROSPars::getDebugLevel

(

)

const

Get actual debug level.

Returns:

Actual debug level

int KheperaServerROSPars::getUrg04lxActive

(

)

const

Get if the laser is active or not.

Returns:

1 if the laser is active; 0 otherwise

string KheperaServerROSPars::getLaserTopicName

(

)

const

Get the laser topic name, where subscribing the laser data.

Returns:

Laser topic name (if laser avalaible)

string KheperaServerROSPars::getTopicName

(

)

const

Get the topic name where one want to publish (laser) and subscribe data.

Returns:

String representing the name of the topic

string KheperaServerROSPars::getNodeName

(

)

const

Get the node name needed by ROSNode resource.

Returns:

ROS node name initialized

GAZEBO_JOINT_PTR KheperaServerROSPars::getLeftWheel

(

)

Get the pointer to the left wheel joint.

Returns:

Pointer to left wheel joint

GAZEBO_JOINT_PTR KheperaServerROSPars::getRightWheel

(

)

Get the pointer to the right wheel joint.

Returns:

Pointer to right wheel joint

Decimal KheperaServerROSPars::getWheelSeparation

(

)

const

Get the wheel separation in meter.

Returns:

The wheel separation

Decimal KheperaServerROSPars::getWheelDiameter

(

)

const

Get the wheel diameter in meter.

Returns:

The wheel diameter

string KheperaServerROSPars::getIntMethodOdo

(

)

const

Get the integration method one wants to use to integrate encoder measurements.

Returns:

String representing the integration method chosed

string KheperaServerROSPars::getCommunicationType

(

)

const

Get the communication type.

Returns:

Communication type. It might be set to fixed or variable

Decimal KheperaServerROSPars::getMaxTorque

(

)

const

Get the maximum torque to be applied to the joints.

Returns:

Maximum torque

Decimal KheperaServerROSPars::getEncoderResolution

(

)

const

Get the encoder resolution.

Returns:

Encoder resolution

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

• main/RemKhepServer/RemKhepServerROS.h
• main/RemKhepServer/RemKhepServerROS.cpp