Public Member Functions
bool	init ()

bool	isEnabled () const

bool	canRun () const

void	enable ()

void	disable ()

void	modeShift (const std::string &mode)

void	update (const std::vector< unsigned char > &signal, const unsigned char &bumper, const unsigned char &charger, const ecl::linear_algebra::Vector3d &pose)
	Updates the odometry from firmware stamps and encoders.

void	velocityCommands (const double &vx, const double &wz)

double	getVX () const

double	getWZ () const

RobotDockingState::State	getState () const

std::string	getStateStr () const

std::string	getDebugStr () const

void	setMinAbsV (double mav)

void	setMinAbsW (double maw)

std::string	getDebugStream ()

Protected Member Functions
void	processBumpChargeEvent (const unsigned char &bumper, const unsigned char &charger)

void	computePoseUpdate (ecl::linear_algebra::Vector3d &pose_update, const ecl::linear_algebra::Vector3d &pose)
	compute pose update from previouse pose and current pose

void	filterIRSensor (std::vector< unsigned char > &signal_filt, const std::vector< unsigned char > &signal)
	pushing into signal into signal window. and go through the signal window to find what has detected

void	generateDebugMessage (const std::vector< unsigned char > &signal_filt, const unsigned char &bumper, const unsigned char &charger, const std::string &debug_str)

void	updateVelocity (const std::vector< unsigned char > &signal_filt, const ecl::linear_algebra::Vector3d &pose_update, std::string &debug_str)

RobotDockingState::State	determineRobotLocation (const std::vector< unsigned char > &signal_filt, const unsigned char &charger)

bool	validateSignal (const std::vector< unsigned char > &signal_filt, const unsigned int state)

void	idle (RobotDockingState::State &state, double &vx, double &wz)

void	scan (RobotDockingState::State &state, double &vx, double &wz, const std::vector< unsigned char > &signal_filt, const ecl::linear_algebra::Vector3d &pose_update, std::string &debug_str)

void	find_stream (RobotDockingState::State &state, double &vx, double &wz, const std::vector< unsigned char > &signal_filt)

void	get_stream (RobotDockingState::State &state, double &vx, double &wz, const std::vector< unsigned char > &signal_filt)

void	aligned (RobotDockingState::State &state, double &vx, double &wz, const std::vector< unsigned char > &signal_filt, std::string &debug_str)

void	bumped (RobotDockingState::State &nstate, double &nvx, double &nwz, int &bump_count)

Member Function Documentation

◆ computePoseUpdate()

void kobuki::DockDrive::computePoseUpdate	(	ecl::linear_algebra::Vector3d &	pose_update,
		const ecl::linear_algebra::Vector3d &	pose
	)

protected

compute pose update from previouse pose and current pose

Parameters

pose	update. this variable get filled after this function
pose	- current pose

◆ filterIRSensor()

void kobuki::DockDrive::filterIRSensor	(	std::vector< unsigned char > &	signal_filt,
		const std::vector< unsigned char > &	signal
	)

protected

pushing into signal into signal window. and go through the signal window to find what has detected

Parameters

signal_filt	- this get filled out after the function.
signal	- the raw data from robot

◆ update()

void kobuki::DockDrive::update	(	const std::vector< unsigned char > &	signal,
		const unsigned char &	bumper,
		const unsigned char &	charger,
		const ecl::linear_algebra::Vector3d &	pose
	)

Updates the odometry from firmware stamps and encoders.

Really horrible - could do with an overhaul.

Parameters

dock_ir	signal
bumper	sensor
charger	sensor
current	pose

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

/github/workspace/include/kobuki_core/dock_drive.hpp
/github/workspace/src/driver/dock_drive.cpp
/github/workspace/src/driver/dock_drive_debug.cpp
/github/workspace/src/driver/dock_drive_states.cpp

Public Member Functions

Protected Member Functions

Member Function Documentation

◆ computePoseUpdate()

◆ filterIRSensor()

◆ update()