SegwayRMP400 Class Reference

SegwayRMP400 Position Driver. More...

#include <segwayrmp400.h>

Inheritance diagram for SegwayRMP400:
ThreadedDriver Driver

List of all members.

Private Member Functions

int ProcessMessage (QueuePointer &resp_queue, player_msghdr_t *hdr, void *data)
 Process message function (Player Standard).

Private Attributes

Devicesegwayrmp2d [2]
 child segwayrmp200 devices for 2d subsrciption
Devicesegwayrmp3d [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.
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.

Detailed Description

SegwayRMP400 Position Driver.


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, position2d_data, position2d_id, position3d_data, position3d_id, Driver::Publish(), rmp2d_data, and rmp3d_data.

Referenced by Main().


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

Last updated 12 September 2005 21:38:45