MipResources::WebotsDiffDrive Class Reference
[Motion module]

Represents a Webots differential drive. More...

#include <WebotsDiffDrive.h>

Inheritance diagram for MipResources::WebotsDiffDrive:

List of all members.

Public Member Functions
	WebotsDiffDrive (int argc, const char *argv[])
	Default constructor.
	~WebotsDiffDrive ()
	Destructor.
void	setWheelCommands (Decimal leftAngVel, Decimal rightAngVel)
	Sets the angular velocities of the left and right wheels.
DiffDriveEncoderReading	getEncoders ()
	Gets the DiffDriveEncoderReading of the encoders of the left and right wheels.
void	resetEncoders ()
	Sets to 0 the encoders of the left and right wheels.
int	simulStep (int)
	Performs a simulation step.
void	_startSimu (unsigned int num)
	Starts the simulation.
void	_stopSimu ()
	Stops the simulation.
void	initWebotsDiffDrive ()
Protected Attributes
WebotsDiffDrivePar *	_weboPar
WebotsDiffDriveVar *	_weboVar
WebotsKoremotPar *	_weKmPar
Thread	_simuStepThread
	Manages the simulation steps.
pthread_mutex_t	_simuStepMutex

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Detailed Description

Represents a Webots differential drive.

Author:

Antonio Franchi

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Constructor & Destructor Documentation

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

Default constructor.

Parameters:

	argc	Argc.
	argv	Argv.

MipResources::WebotsDiffDrive::~WebotsDiffDrive

(

)

Destructor.

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Member Function Documentation

void MipResources::WebotsDiffDrive::setWheelCommands	(	Decimal	leftAngVel,
		Decimal	rightAngVel
	)			[virtual]

Sets the angular velocities of the left and right wheels.

Parameters:

	leftAngVel	Angular velocity to drive the left wheel.
	rightAngVel	Angular velocity to drive the right wheel.

Implements MipResources::DiffDrive.

DiffDriveEncoderReading MipResources::WebotsDiffDrive::getEncoders

(

)

[virtual]

Gets the DiffDriveEncoderReading of the encoders of the left and right wheels.

Returns:

DiffDriveEncoderReading.

Implements MipResources::DiffDrive.

void MipResources::WebotsDiffDrive::resetEncoders

(

)

Sets to 0 the encoders of the left and right wheels.

int MipResources::WebotsDiffDrive::simulStep

(

int

stepTime

)

Performs a simulation step.

void MipResources::WebotsDiffDrive::_startSimu

(

unsigned int

num

)

[inline]

Starts the simulation.

Parameters:

num

number of scan to perform, (0 means unbounded)

void MipResources::WebotsDiffDrive::_stopSimu

(

)

[inline]

Stops the simulation.

void MipResources::WebotsDiffDrive::initWebotsDiffDrive

(

)

Todo:

Understand the real meaning of the parameter of enableEncoders.

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Member Data Documentation

WebotsDiffDrivePar* MipResources::WebotsDiffDrive::_weboPar [protected]

Parameters, implemented class.

WebotsDiffDriveVar* MipResources::WebotsDiffDrive::_weboVar [protected]

Variables, implemented class.

WebotsKoremotPar* MipResources::WebotsDiffDrive::_weKmPar [protected]

Thread MipResources::WebotsDiffDrive::_simuStepThread [protected]

Manages the simulation steps.

pthread_mutex_t MipResources::WebotsDiffDrive::_simuStepMutex [protected]

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

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