MipResources::RemoteRob Class Reference
[Mobile robot]

Provides an interface for and IP connection with a remote mobile robot task. More...

#include <RemoteRob.h>

Inheritance diagram for MipResources::RemoteRob:

List of all members.

Public Member Functions
	RemoteRob (int argc, const char *argv[])
	Default constructor.
	~RemoteRob ()
	Destructor.
ResourcePlate	getPlate () const
	Gets the plate.
Scan	scan ()
	Gets a scan.
void	startScan (unsigned int num)
	start a continuous scan
void	stopScan ()
	Stops a continuous scan.
void	startIR (unsigned int num)
	Starts a continuous ir.
void	stopIR ()
	Starts a continuous ir.
UnicyclePar *	unicyclePar ()
	Gets unicycle parameters.
void	velCmd (Decimal drive, Decimal turnrate)
	Sets velocity commands.
void	getVel (Decimal &drive, Decimal &turnrate)
	Gets velocity.
Pose	getPose (void)
	Get the pose.
MotionModuleTState	getMotionState ()
	Get the motion state.
void	setPose (Pose p)
	Sets the pose.
bool	setMotionState (MotionModuleState state, bool setPastTimeStamp=false, Time pastTimeStamp=Time())
	Sets the state.
bool	storedScan (Scan &s, Time timeout)
	Gets the stored scan.
bool	updatedScan (Scan &s)
	Gets an updated scan in metres.
bool	updatedScan (Scan &s, MotionModuleTState &state)
	Gets an updated scan and the state of the robot in that moment.
void	RRReceive ()
	Ignore this function.

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Detailed Description

Provides an interface for and IP connection with a remote mobile robot task.

Author:

Antonio Franchi and Paolo Stegagno

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Constructor & Destructor Documentation

MipResources::RemoteRob::RemoteRob	(	int	argc,
		const char *	argv[]
	)

Default constructor.

MipResources::RemoteRob::~RemoteRob

(

)

Destructor.

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Member Function Documentation

ResourcePlate MipResources::RemoteRob::getPlate

(

)

const [inline, virtual]

Gets the plate.

Implements MipResources::Resource.

Scan MipResources::RemoteRob::scan

(

)

[inline]

Gets a scan.

Todo:

To implement.

void MipResources::RemoteRob::startScan

(

unsigned int

num

)

[virtual]

start a continuous scan

Reimplemented from MipResources::MobileRob.

void MipResources::RemoteRob::stopScan

(

)

[virtual]

Stops a continuous scan.

Reimplemented from MipResources::MobileRob.

void MipResources::RemoteRob::startIR

(

unsigned int

num

)

Starts a continuous ir.

void MipResources::RemoteRob::stopIR

(

)

Starts a continuous ir.

UnicyclePar * MipResources::RemoteRob::unicyclePar

(

)

[virtual]

Gets unicycle parameters.

Reimplemented from MipResources::MobileRob.

void MipResources::RemoteRob::velCmd	(	Decimal	drive,
		Decimal	turnrate
	)			[virtual]

Sets velocity commands.

Reimplemented from MipResources::MobileRob.

void MipResources::RemoteRob::getVel	(	Decimal &	drive,
		Decimal &	turnrate
	)			[virtual]

Gets velocity.

Parameters:

	drive	Current linear velocity drive (m/s).
	turnrate	Current turnrate (rad/s).

Reimplemented from MipResources::MobileRob.

Pose MipResources::RemoteRob::getPose

(

void

)

[virtual]

Get the pose.

Reimplemented from MipResources::MobileRob.

MotionModuleTState MipResources::RemoteRob::getMotionState

(

)

[virtual]

Get the motion state.

Reimplemented from MipResources::MobileRob.

void MipResources::RemoteRob::setPose

(

Pose

p

)

[virtual]

Sets the pose.

Reimplemented from MipResources::MobileRob.

bool MipResources::RemoteRob::setMotionState	(	MotionModuleState	state,
		bool	setPastTimeStamp = false,
		Time	pastTimeStamp = Time()
	)			[virtual]

Sets the state.

Reimplemented from MipResources::MobileRob.

bool MipResources::RemoteRob::storedScan	(	Scan &	s,
		Time	timeout
	)			[virtual]

Gets the stored scan.

Note:

Make sense only if startScan has been called before.

This is a wrapper of RangeSens::currentScan.

Parameters:

	s	A scan in which the current scan is copied.
	timeout	Timeout.

Reimplemented from MipResources::MobileRob.

bool MipResources::RemoteRob::updatedScan

(

Scan &

s

)

[virtual]

Gets an updated scan in metres.

Note:

This is a wrapper of RangeSens::updatedScan.

Returns:

True if all is ok (remeber that scan is a MutExed Resource), false otherwise.

Parameters:

s

A scan in metres in which the current scan is copied, if return is true.

Reimplemented from MipResources::MobileRob.

bool MipResources::RemoteRob::updatedScan	(	Scan &	s,
		MotionModuleTState &	state
	)			[virtual]

Gets an updated scan and the state of the robot in that moment.

Note:

This is, in part, a wrapper of RangeSens::updatedScan.

Returns:

True if all is ok (remeber that scan is a MutExed Resource), false otherwise.

Parameters:

s

A scan in metres in which the current scan is copied, if return is true.

Todo:

Implement me searching the correct timestamp.

Reimplemented from MipResources::MobileRob.

void MipResources::RemoteRob::RRReceive

(

)

[inline]

Ignore this function.

Note:

extern "C" void RRWork(void* p) needs it to be public

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

• resources/MobileRob/RemoteRob.h
• resources/MobileRob/RemoteRob.cpp