MipResources::KorebotROSPar Class Reference
[Motion module]

Represents the parameters of a KorebotROS Unicycle. More...

#include <KorebotROS.h>

Inheritance diagram for MipResources::KorebotROSPar:

List of all members.

Public Member Functions
	KorebotROSPar ()
	Default constructor.
	KorebotROSPar (const string &kn, const Decimal &mwtr, const Decimal &ld, const Decimal &rd, const Decimal &at, const Decimal &er, GAZEBO_JOINT_PTR lj, GAZEBO_JOINT_PTR rj, const string &intOdoMeth)
	Complete constructor.
	KorebotROSPar (GAZEBO_JOINT_PTR lj, GAZEBO_JOINT_PTR rj, const string &intOdoMeth)
	Constructor. It does not take physical information (set by default).
	KorebotROSPar (const string &kn, const Decimal &mwtr, const Decimal &ld, const Decimal &rd, const Decimal &at, const Decimal &er, const string &intOdoMeth)
	Complete constructor with only the geometrical parameters.
	~KorebotROSPar ()
	Default destructor.
string	_providedName ()
	Get the name of the robot.
Decimal	_providedMaxWheelTurnRate (void)
	Get the maximum turning rate on the wheels.
Decimal	_providedLeftDiam (void)
	Get the diameter of the left wheel.
Decimal	_providedRightDiam (void)
	Get the diameter of the right wheel.
Decimal	_providedAxelTrack (void)
	Get the separation between the wheels.
Decimal	_providedEncoderResol (void)
	Get the econder resolution.
GAZEBO_JOINT_PTR	getLeftJoint ()
	Get the pointer to the left joint.
GAZEBO_JOINT_PTR	getRightJoint ()
	Get the pointer to the right joint.
Decimal	getLeftRatio () const
	Get the left ratio defined as (M_PI*leftDiameter)/(encoderResolution).
Decimal	getRightRatio () const
	Get the right ratio defined as (M_PI*rightDiameter)/(encoderResolution).
string	getIntOdoMeth () const
	Get the integration method for odometer.
string	print ()
	Print function.

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Detailed Description

Represents the parameters of a KorebotROS Unicycle.

Author:

Marco Cognetti

Note:

In addition to the inherited parameters there are some implementation-related params.

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Constructor & Destructor Documentation

MipResources::KorebotROSPar::KorebotROSPar

(

)

Default constructor.

MipResources::KorebotROSPar::KorebotROSPar	(	const string &	kn,
		const Decimal &	mwtr,
		const Decimal &	ld,
		const Decimal &	rd,
		const Decimal &	at,
		const Decimal &	er,
		GAZEBO_JOINT_PTR	lj,
		GAZEBO_JOINT_PTR	rj,
		const string &	intOdoMeth
	)

Complete constructor.

MipResources::KorebotROSPar::KorebotROSPar	(	GAZEBO_JOINT_PTR	lj,
		GAZEBO_JOINT_PTR	rj,
		const string &	intOdoMeth
	)

Constructor. It does not take physical information (set by default).

MipResources::KorebotROSPar::KorebotROSPar	(	const string &	kn,
		const Decimal &	mwtr,
		const Decimal &	ld,
		const Decimal &	rd,
		const Decimal &	at,
		const Decimal &	er,
		const string &	intOdoMeth
	)

Complete constructor with only the geometrical parameters.

MipResources::KorebotROSPar::~KorebotROSPar

(

)

[inline]

Default destructor.

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Member Function Documentation

string MipResources::KorebotROSPar::_providedName

(

)

[virtual]

Get the name of the robot.

Returns:

The name of the robot

Implements MipResources::DiffDrivePar.

Decimal MipResources::KorebotROSPar::_providedMaxWheelTurnRate

(

void

)

[virtual]

Get the maximum turning rate on the wheels.

Returns:

Maximum turning rate on the wheels

Implements MipResources::DiffDrivePar.

Decimal MipResources::KorebotROSPar::_providedLeftDiam

(

void

)

[virtual]

Get the diameter of the left wheel.

Returns:

Diameter of the left wheel

Implements MipResources::DiffDrivePar.

Decimal MipResources::KorebotROSPar::_providedRightDiam

(

void

)

[virtual]

Get the diameter of the right wheel.

Returns:

Diameter of the right wheel

Implements MipResources::DiffDrivePar.

Decimal MipResources::KorebotROSPar::_providedAxelTrack

(

void

)

[virtual]

Get the separation between the wheels.

Returns:

Separation between wheels

Implements MipResources::DiffDrivePar.

Decimal MipResources::KorebotROSPar::_providedEncoderResol

(

void

)

[virtual]

Get the econder resolution.

Returns:

Encoder resolution

Implements MipResources::DiffDrivePar.

GAZEBO_JOINT_PTR MipResources::KorebotROSPar::getLeftJoint

(

)

Get the pointer to the left joint.

Returns:

Pointer to left joint

GAZEBO_JOINT_PTR MipResources::KorebotROSPar::getRightJoint

(

)

Get the pointer to the right joint.

Returns:

Pointer to right joint

Decimal MipResources::KorebotROSPar::getLeftRatio

(

)

const

Get the left ratio defined as (M_PI*leftDiameter)/(encoderResolution).

Returns:

Left ratio

Decimal MipResources::KorebotROSPar::getRightRatio

(

)

const

Get the right ratio defined as (M_PI*rightDiameter)/(encoderResolution).

Returns:

Right ratio

string MipResources::KorebotROSPar::getIntOdoMeth

(

)

const

Get the integration method for odometer.

Returns:

String representing the integration method for odometer

string MipResources::KorebotROSPar::print

(

)

[virtual]

Print function.

Returns:

String representing the variables stored in this class

Reimplemented from MipResources::DiffDrivePar.

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

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