kobuki::Kobuki Class Reference

The core kobuki driver class. More...

#include <kobuki.hpp>

Public Member Functions
	~Kobuki ()
void	init (Parameters &parameters)
bool	isAlive () const
bool	isShutdown () const
bool	isEnabled () const
bool	enable ()
bool	disable ()
void	shutdown ()
void	spin ()
	Performs a scan looking for incoming data packets.
void	fixPayload (ecl::PushAndPop< unsigned char > &byteStream)
void	lockDataAccess ()
void	unlockDataAccess ()
ecl::Angle< double >	getHeading () const
double	getAngularVelocity () const
VersionInfo	versionInfo () const
Battery	batteryStatus () const
CoreSensors::Data	getCoreSensorData () const
DockIR::Data	getDockIRData () const
Cliff::Data	getCliffData () const
Current::Data	getCurrentData () const
Inertia::Data	getInertiaData () const
GpInput::Data	getGpInputData () const
ThreeAxisGyro::Data	getRawInertiaData () const
ControllerInfo::Data	getControllerInfoData () const
void	getWheelJointStates (double &wheel_left_angle, double &wheel_left_angle_rate, double &wheel_right_angle, double &wheel_right_angle_rate)
void	updateOdometry (ecl::linear_algebra::Vector3d &pose_update, ecl::linear_algebra::Vector3d &pose_update_rates)
	Use the current sensor data (encoders and gyro) to calculate an update for the odometry.
void	resetOdometry ()
void	setBaseControl (const double &linear_velocity, const double &angular_velocity)
void	setLed (const enum LedNumber &number, const enum LedColour &colour)
void	setDigitalOutput (const DigitalOutput &digital_output)
void	setExternalPower (const DigitalOutput &digital_output)
void	playSoundSequence (const enum SoundSequences &number)
bool	setControllerGain (const unsigned char &type, const unsigned int &p_gain, const unsigned int &i_gain, const unsigned int &d_gain)
bool	getControllerGain ()
void	printSigSlotConnections () const
	Print a list of all relevant sigslot connections.

Detailed Description

The core kobuki driver class.

This connects to the outside world via sigslots and get accessors.

Constructor & Destructor Documentation

~Kobuki()

kobuki::Kobuki::~Kobuki

(

)

Shutdown the driver - make sure we wait for the thread to finish.

Member Function Documentation

disable()

bool kobuki::Kobuki::disable

(

)

Disable power to the motors.

enable()

bool kobuki::Kobuki::enable

(

)

Enable power to the motors.

isAlive()

bool kobuki::Kobuki::isAlive ( ) const

inline

Whether the connection to the robot is alive and currently streaming.

isEnabled()

bool kobuki::Kobuki::isEnabled ( ) const

inline

Whether the motor power is enabled or disabled.

isShutdown()

bool kobuki::Kobuki::isShutdown ( ) const

inline

Whether the worker thread is alive or not.

lockDataAccess()

void kobuki::Kobuki::lockDataAccess

(

)

Usually you should call the getXXX functions from within slot callbacks connected to this driver's signals. This ensures that data is not overwritten inbetween getXXX calls as it all happens in the serial device's reading thread (aye, convoluted - apologies for the multiple robot and multiple developer adhoc hacking over 4-5 years for hasty demos on pre-kobuki robots. This has generated such wonderful spaghetti ;).

If instead you just want to poll kobuki, then you should lock and unlock the data access around any getXXX calls.

printSigSlotConnections()

void kobuki::Kobuki::printSigSlotConnections

(

)

const

Print a list of all relevant sigslot connections.

This includes both the kobuki driver signals as well as externally connected slots. Useful for when you need to check if any of your connections are dangling (often happens when you typo the name of the sigslots connection).

shutdown()

void kobuki::Kobuki::shutdown ( )

inline

Gently terminate the worker thread.

spin()

void kobuki::Kobuki::spin

(

)

Performs a scan looking for incoming data packets.

Sits on the device waiting for incoming and then parses it, and signals that an update has occured.

Or, if in simulation, just loopsback the motor devices.

unlockDataAccess()

void kobuki::Kobuki::unlockDataAccess

(

)

Unlock a previously locked data access privilege.

See also

lockDataAccess()

updateOdometry()

void kobuki::Kobuki::updateOdometry	(	ecl::linear_algebra::Vector3d &	pose_update,
		ecl::linear_algebra::Vector3d &	pose_update_rates
	)

Use the current sensor data (encoders and gyro) to calculate an update for the odometry.

This fuses current sensor data with the last updated odometry state to produce the new odometry state. This will be usually done in the slot callback to the stream_data signal.

It is important that this is called every time a data packet is received from the robot.

Parameters

pose_update	: return the pose updates in this variable.
pose_update_rates	: return the pose update rates in this variable.

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

• /github/workspace/include/kobuki_core/kobuki.hpp
• /github/workspace/src/driver/kobuki.cpp