EpuckPosition2d Class Reference

It controls the e-puck velocity and odometry. More...

#include <epuckPosition2d.hpp>

Inheritance diagram for EpuckPosition2d:

Collaboration diagram for EpuckPosition2d:

Detailed Description

It controls the e-puck velocity and odometry.

Author

Renato Florentino Garcia

Date

August 2008

Classes
struct	BodyGeometry
	Struct which represents the geometry of e-puck body. More...
struct	DynamicConfiguration
	Struct which represents the pose and velocity of e-puck. More...

Public Member Functions
	EpuckPosition2d (const SerialPort *const serialPort)
	The EpuckPosition2d class constructor. More...
void	SetVel (float px, float pa) const
	Set linear and angular velocities to e-puck. More...
DynamicConfiguration	UpdateOdometry ()
	Estimate the current pose and velocities. More...
void	SetOdometry (Triple odometry)
	Set the current pose estimated by odometry. More...
void	ResetOdometry ()
	Set the current pose estimated by odometry - (x,y,theta) - to (0,0,0).
void	StopMotors () const
	Stop the e-puck motors. More...
BodyGeometry	GetGeometry () const
	Give the e-puck geometry. More...

Private Attributes
EpuckTimer	timer
DynamicConfiguration	odometryState
BodyGeometry	geometry

Static Private Attributes
static const float	WHEEL_DIAMETER = 0.0412
static const float	TRACK = 0.05255
static const float	r_DIV_L = 0.392007612
static const float	r_DIV_2 = 0.0103
static const float	STEP_ANG_DISP = 6.283185308e-3

Additional Inherited Members
Protected Types inherited from EpuckInterface
enum	Request {   CONFIG_CAMERA = 0x02, SET_VEL = 0x13, GET_STEPS = 0x14, STOP_MOTORS = 0x15,   GET_IR_PROX = 0x16, GET_CAMERA_IMG = 0x17, SET_LED_POWER = 0x18 }
	Request codes acceptable by e-puck. More...
Protected Member Functions inherited from EpuckInterface
	EpuckInterface (const SerialPort *const serialPort)
	The EpuckInterface class constructor. More...
void	SendRequest (Request request) const
Protected Attributes inherited from EpuckInterface
const SerialPort *const	serialPort
	A SerialPort class instance shared among the device interfaces. More...
Static Protected Attributes inherited from EpuckInterface
static const float	EPUCK_DIAMETER = 0.07
	Diameter of e-puck body [m].

Constructor & Destructor Documentation

EpuckPosition2d()

EpuckPosition2d::EpuckPosition2d

(

const SerialPort *const

serialPort

)

The EpuckPosition2d class constructor.

Parameters

serialPort

Pointer for a SerialPort class already created and connected with an e-puck.

References EpuckInterface::EPUCK_DIAMETER, EpuckPosition2d::BodyGeometry::height, and EpuckPosition2d::BodyGeometry::width.

Member Function Documentation

GetGeometry()

BodyGeometry EpuckPosition2d::GetGeometry ( ) const

inline

Give the e-puck geometry.

Returns

A BodyGeometry struct.

SetOdometry()

void EpuckPosition2d::SetOdometry

(

Triple

odometry

)

Set the current pose estimated by odometry.

Set the internal representation for e-puck current pose estimated from odometry to the given value.

Parameters

odometry

The value which will be set.

References EpuckInterface::GET_STEPS, EpuckPosition2d::DynamicConfiguration::pose, SerialPort::recvInt(), EpuckInterface::serialPort, EpuckInterface::Triple::theta, EpuckInterface::Triple::x, and EpuckInterface::Triple::y.

Here is the call graph for this function:

SetVel()

void EpuckPosition2d::SetVel	(	float	px,
		float	pa
	)		const

Set linear and angular velocities to e-puck.

Receive the linear and agular velocities, convert to correspondent steps per seconds motors commands and send to e-puck.

Parameters

px	Linear velocity. [m/s]
pa	Angular velocity. [rad/s]

References SerialPort::recvChar(), SerialPort::sendInt(), EpuckInterface::serialPort, and EpuckInterface::SET_VEL.

Here is the call graph for this function:

StopMotors()

void EpuckPosition2d::StopMotors

(

)

const

Stop the e-puck motors.

Stop the two motors and update the odometry by the steps yet non computed.

References SerialPort::recvChar(), EpuckInterface::serialPort, and EpuckInterface::STOP_MOTORS.

Here is the call graph for this function:

UpdateOdometry()

EpuckPosition2d::DynamicConfiguration EpuckPosition2d::UpdateOdometry

(

)

Estimate the current pose and velocities.

Receive from e-puck the motors steps made since the last call at this function, and estimate the new current pose and velocities.

Returns

A DynamicConfiguration struct.

References EpuckInterface::GET_STEPS, EpuckTimer::intervalDelay(), EpuckPosition2d::DynamicConfiguration::pose, SerialPort::recvInt(), EpuckTimer::resetInterval(), EpuckInterface::serialPort, EpuckInterface::Triple::theta, EpuckPosition2d::DynamicConfiguration::velocity, EpuckInterface::Triple::x, and EpuckInterface::Triple::y.

Here is the call graph for this function:

---

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

• epuckPosition2d.hpp
• epuckPosition2d.cpp