MipResources::DiffDrivePar Class Reference
[Motion module]

General parametes of a differential drive. More...

#include <MotionModule.h>

Inheritance diagram for MipResources::DiffDrivePar:

List of all members.

Public Member Functions
	DiffDrivePar ()
	Default constructor.
Decimal	maxWheelTurnRate (void)
	Gets the maximum wheel turnrate (rad/sec).
Decimal	leftDiam (void)
	Gets the left-wheel diameter (m).
Decimal	rightDiam (void)
	Gets the right-wheel diameter (m).
Decimal	averageDiam (void)
	Gets the average of the wheel diameters (m).
Decimal	axelTrack (void)
	Gets the axel track (m).
Decimal	encoderResol (void)
	Gets the encoder resolution (used for odometry) (pulse/rad).
string	print ()
	Prints parameters.
Protected Member Functions
Decimal	_providedMaxDrive (void)
	Gets the maximum Drive (linear velocity) in m/sec.
Decimal	_providedMaxTurnRate (void)
	Gets the maximum Turnarate in rad/sec.
virtual string	_providedName ()=0
	Gets the name.
virtual Decimal	_providedMaxWheelTurnRate (void)=0
virtual Decimal	_providedLeftDiam (void)=0
virtual Decimal	_providedRightDiam (void)=0
virtual Decimal	_providedAxelTrack (void)=0
virtual Decimal	_providedEncoderResol (void)=0

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Detailed Description

General parametes of a differential drive.

Author:

Antonio Franchi

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Constructor & Destructor Documentation

MipResources::DiffDrivePar::DiffDrivePar

(

)

[inline]

Default constructor.

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Member Function Documentation

Decimal MipResources::DiffDrivePar::_providedMaxDrive

(

void

)

[protected, virtual]

Gets the maximum Drive (linear velocity) in m/sec.

Implements MipResources::MotionModulePar.

Decimal MipResources::DiffDrivePar::_providedMaxTurnRate

(

void

)

[protected, virtual]

Gets the maximum Turnarate in rad/sec.

Implements MipResources::MotionModulePar.

virtual string MipResources::DiffDrivePar::_providedName

(

)

[protected, pure virtual]

Gets the name.

Implements MipResources::MotionModulePar.

Implemented in MipResources::KorebotROSPar.

virtual Decimal MipResources::DiffDrivePar::_providedMaxWheelTurnRate

(

void

)

[protected, pure virtual]

Implemented in MipResources::KorebotROSPar.

virtual Decimal MipResources::DiffDrivePar::_providedLeftDiam

(

void

)

[protected, pure virtual]

Implemented in MipResources::KorebotROSPar.

virtual Decimal MipResources::DiffDrivePar::_providedRightDiam

(

void

)

[protected, pure virtual]

Implemented in MipResources::KorebotROSPar.

virtual Decimal MipResources::DiffDrivePar::_providedAxelTrack

(

void

)

[protected, pure virtual]

Implemented in MipResources::KorebotROSPar.

virtual Decimal MipResources::DiffDrivePar::_providedEncoderResol

(

void

)

[protected, pure virtual]

Implemented in MipResources::KorebotROSPar.

Decimal MipResources::DiffDrivePar::maxWheelTurnRate

(

void

)

Gets the maximum wheel turnrate (rad/sec).

Decimal MipResources::DiffDrivePar::leftDiam

(

void

)

Gets the left-wheel diameter (m).

Decimal MipResources::DiffDrivePar::rightDiam

(

void

)

Gets the right-wheel diameter (m).

Decimal MipResources::DiffDrivePar::averageDiam

(

void

)

Gets the average of the wheel diameters (m).

Decimal MipResources::DiffDrivePar::axelTrack

(

void

)

Gets the axel track (m).

Decimal MipResources::DiffDrivePar::encoderResol

(

void

)

Gets the encoder resolution (used for odometry) (pulse/rad).

string MipResources::DiffDrivePar::print

(

)

[virtual]

Prints parameters.

Reimplemented from MipResources::MotionModulePar.

Reimplemented in MipResources::KorebotROSPar.

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

• resources/MotionModule/MotionModule.h
• resources/MotionModule/MotionModule.cpp