FileCtrl allows to control the robot from a file. More...

#include <file.hpp>

Inheritance diagram for FileCtrl:

[legend]

Public Member Functions
void	chooseVelocities (double &trans_vel, double &rot_vel, std::ostream &log_str)
	Computes new velocities for ROS node. More...

	FileCtrl (const MotionModel &model, const double &ts, const char *input_file_name=NULL)
	The constructor needs a motion model and an optional input file name. More...

void	setInput (const char *input_file_name)
	Change the input stream to a new file. More...

virtual	~FileCtrl ()
	The destructor closes the input stream, if any. More...

Public Member Functions inherited from Controller
virtual void	newState (const State &state)
	Handles new state of the robot. More...

void	stopMotion ()
	Stops the robot (i.e. sets both velocities to zero). More...

const double &	timeStep () const
	Stops the robot (i.e. sets both velocities to zero). More...

virtual	~Controller ()
	The destructor needs to be defined as virtual. More...

Protected Member Functions
void	inputEnd ()
	Close and terminate the input stream. More...

bool	inputEnded () const
	Is the input stream at its end? More...

bool	inputOK () const
	Is the input stream OK for reading? More...

Protected Member Functions inherited from Controller
void	changeFirstOdometry ()
	Change the odometry data status (first or not). More...

	Controller (const MotionModel &model, const double &ts)
	This constructor (for the inheriting controllers) sets the motion model to the given one. More...

bool	firstOdometry ()
	Are the odometry data the first? More...

void	updateVelocities (double &trans_vel, double &rot_vel)
	Update the velocities from the fields and send the update signal. More...

Protected Attributes
std::ifstream *	input
	The input stream, if any. More...

Protected Attributes inherited from Controller
double	initial_date
	The first date of the odometry. More...

const MotionModel &	motion_model
	The model of the motion. More...

double	moving_velocity
	Translation velocity desired for the robot. More...

const double	time_step
	The time step of the controller. More...

double	turning_velocity
	Rotation velocity desired for the robot. More...

Additional Inherited Members
Signals inherited from Controller
void	commandsUpdated (const double &trans_vel, const double &rot_vel)
	Update the display of the controller's commands. More...

void	stateUpdated (const State &state)
	Update the display of the state. More...

Detailed Description

FileCtrl allows to control the robot from a file.

Most of fields and methods were initially defined in ROS node.

Since: 0.3.0

Definition at line 25 of file file.hpp.

Constructor & Destructor Documentation

FileCtrl::FileCtrl	(	const MotionModel &	model,
		const double &	ts,
		const char *	input_file_name = `NULL`
	)

inline

The constructor needs a motion model and an optional input file name.

Parameters

model	the motion model,
ts	the time step of the controller,
input_file_name	the input file name.

See also: Controller(const MotionModel&)

Definition at line 50 of file file.hpp.

virtual FileCtrl::~FileCtrl ( )

inlinevirtual

The destructor closes the input stream, if any.

Since: 0.2.4

Definition at line 60 of file file.hpp.

Member Function Documentation

void FileCtrl::chooseVelocities	(	double &	trans_vel,
		double &	rot_vel,
		std::ostream &	log_str
	)

virtual

Computes new velocities for ROS node.

This method has to be defined by inheritors. It should use updateVelocities.

Parameters

trans_vel	the translation velocity, sent by the ROS node to ROS,
rot_vel	the rotation velocity, sent to ROS,
log_str	the log stream, allowing to log debug data.

Implements Controller.

Reimplemented in PIDCtrl, and ImitateCtrl.

Definition at line 14 of file file.cpp.

void FileCtrl::inputEnd ( )

inlineprotected

Close and terminate the input stream.

Since: 0.2.4

Definition at line 40 of file file.hpp.

bool FileCtrl::inputEnded ( ) const

inlineprotected

Is the input stream at its end?

Returns: Yes if at the end, no otherwise.

Since: 0.3.1

Definition at line 36 of file file.hpp.

bool FileCtrl::inputOK ( ) const

inlineprotected

Is the input stream OK for reading?

Returns: Yes if OK, no otherwise.

Since: 0.2.4

Definition at line 31 of file file.hpp.

void FileCtrl::setInput ( const char * input_file_name )

inline

Change the input stream to a new file.

Parameters

input_file_name The input file name.

Since: 0.2.4

Definition at line 64 of file file.hpp.

Member Data Documentation

std::ifstream* FileCtrl::input

protected

The input stream, if any.

Since: 0.2.4

Definition at line 27 of file file.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation