KbdCtrl allows to control the robot with the keyboard. More...

#include <keyboard.hpp>

Inheritance diagram for KbdCtrl:

Public Member Functions
void	acc (const int transFact, const int rotFact)
	Changes both velocities (translation and rotation) by adding or removing the related increment (acceleration times loop duration). More...

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

	KbdCtrl (const MotionModel &model, const double &ts)
	The constructor needs a motion model. More...

void	stopRotation ()
	Stops the robot's rotation. More...

void	stopTranslation ()
	Stops the robot's translation. More...

virtual	~KbdCtrl ()
	The destructor needs to be explicitely redefined. 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...

Private Attributes
double	moving_factor
	Increment factor of translation velocity, in [-1, 1]. More...

double	turning_factor
	Increment factor of rotation velocity, in [-1, 1]. 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...

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 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...

Detailed Description

KbdCtrl allows to control the robot with the keyboard.

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

Since: 0.3.0

Definition at line 23 of file keyboard.hpp.

Constructor & Destructor Documentation

KbdCtrl::KbdCtrl	(	const MotionModel &	model,
		const double &	ts
	)

inline

The constructor needs a motion model.

Parameters

model	The motion model,
ts	the time step of the controller.

See also: Controller(const MotionModel&, const double&)

Definition at line 34 of file keyboard.hpp.

virtual KbdCtrl::~KbdCtrl ( )

inlinevirtual

The destructor needs to be explicitely redefined.

Definition at line 38 of file keyboard.hpp.

Member Function Documentation

void KbdCtrl::acc	(	const int	transFact,
		const int	rotFact
	)

inline

Changes both velocities (translation and rotation) by adding or removing the related increment (acceleration times loop duration).

Parameters

transFact	The translation factor multiplied to the translation increment (the factor is considered as 1 if > 1, and -1 if < -1).
rotFact	The rotation factor multiplied to the rotation increment (the factor is considered as 1 if > 1, and -1 if < -1).

Definition at line 57 of file keyboard.hpp.

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

inlinevirtual

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.

Definition at line 64 of file keyboard.hpp.

void KbdCtrl::stopRotation ( )

inline

Stops the robot's rotation.

Since: 0.2.1

Definition at line 41 of file keyboard.hpp.

void KbdCtrl::stopTranslation ( )

inline

Stops the robot's translation.

Since: 0.2.2

Definition at line 44 of file keyboard.hpp.

Member Data Documentation

double KbdCtrl::moving_factor

private

Increment factor of translation velocity, in [-1, 1].

Since: 0.2.0

Definition at line 25 of file keyboard.hpp.

double KbdCtrl::turning_factor

private

Increment factor of rotation velocity, in [-1, 1].

Since: 0.2.0

Definition at line 27 of file keyboard.hpp.

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

keyboard.hpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation