SegwayRMP400 Class Reference

SegwayRMP400 Position Driver. More...

#include <segwayrmp400.h>

Inheritance diagram for SegwayRMP400:

List of all members.

Private Attributes
Device *	segwayrmp2d [2]
	child segwayrmp200 devices for 2d subsrciption
Device *	segwayrmp3d [2]
	child segwayrmp200 devices for 3d subsrciption
player_devaddr_t	segwayrmp2d_id [2]
	2d Position Interface Address (Output)
player_devaddr_t	segwayrmp3d_id [2]
	3d Position Interface Address (Output)
player_devaddr_t	position3d_id
	3d Position Interface Address (Input)
player_devaddr_t	position2d_id
	2d Position Interface Address (Input)
player_position2d_data_t	rmp2d_data [2]
	Incoming data from child segwayrmp200 devices 2d.
player_position3d_data_t	rmp3d_data [2]
	Incoming data from child segwayrmp200 devices 3d.
player_position2d_data_t	position2d_data
	Output data for parent segwayrmp400 device 2d.
player_position2d_cmd_vel_t	position2d_cmd
	Output cmd for parent segwayrmp400 device 2d.
player_position3d_data_t	position3d_data
	Output data for parent segwayrmp400 device 3d.
player_position3d_cmd_vel_t	position3d_cmd
	Output cmd for parent segwayrmp400 device 3d.
bool	provide_2d
	Provide 2d interface Flag.
bool	provide_3d
	Provide 3d interface Flag.
int	counter
bool	newfront3d
	Flags for new data.
bool	newback3d
bool	newfront2d
bool	newback2d
bool	fullspeed
	Flag for full speed data reporting.
	SegwayRMP400 (ConfigFile *cf, int section)
	Standard Constructor.
virtual int	MainSetup ()
	Initialize (Player Standard)
virtual void	MainQuit ()
	Shutdown (Player Standard)
void	Main ()
	Main.
int	ProcessMessage (QueuePointer &resp_queue, player_msghdr_t *hdr, void *data)
	Process message function (Player Standard)
void	ProcessData ()
	Packages position data and publishes.
int	HandlePosition3DCmd (player_position3d_cmd_vel_t *cmd)
	Internal method to handle position 3D commands.
int	HandlePosition2DCmd (player_position2d_cmd_vel_t *cmd)
	Internal method to handle position 2D commands.

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Detailed Description

SegwayRMP400 Position Driver.

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Member Function Documentation

void SegwayRMP400::ProcessData

(

)

[private]

Packages position data and publishes.

Todo:

Add smarter approach to combine the data from both RMPs. For now, just average.

References fullspeed, newfront3d, player_pose2d::pa, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, PLAYER_POSITION3D_DATA_STATE, player_position2d_data::pos, player_position3d_data::pos, position2d_data, position2d_id, position3d_data, position3d_id, player_pose3d::ppitch, player_pose3d::proll, Driver::Publish(), player_pose2d::px, player_pose3d::px, player_pose2d::py, player_pose3d::py, player_pose3d::pyaw, player_pose3d::pz, rmp2d_data, rmp3d_data, player_position2d_data::vel, and player_position3d_data::vel.

Referenced by Main().

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

• segwayrmp400.h
• segwayrmp400.cc