wiselib::RoombaMotion< Roomba_P, Math_P > Class Template Reference

#include <roomba_motion.h>

List of all members.

Public Types
enum	{ DEFAULT_VELOCITY = 50, MAX_VELOCITY = 100 }
enum	{ DEFAULT_ANGULAR_VELOCITY = 20, MAX_ANGULAR_VELOCITY = 100 }
enum	State { STATE_STOPPED, STATE_MOVING }
typedef Roomba_P	Roomba
typedef Math_P	Math
typedef Roomba::distance_t	distance_t
typedef Roomba::angle_t	angle_t
typedef Pose< angle_t, distance_t >	pose_t
typedef Roomba::velocity_t	velocity_t
typedef Roomba::angular_velocity_t	angular_velocity_t
typedef RoombaMotion< Roomba_P, Math_P >	self_t
Public Member Functions
void	init (Roomba &roomba)
void	init ()
void	destruct ()
void	move (velocity_t v=DEFAULT_VELOCITY)
	Drive straight with given velocity.
void	move_distance (distance_t d)
	Like move(), but stop after given distance.
void	move_to_wall ()
	Like move(), but stop when hitting a wall.
void	turn (angular_velocity_t v=DEFAULT_ANGULAR_VELOCITY)
	Turn counter-clockwise with given angular velocity.
void	turn_about (angle_t a)
	Like turn() but turn about given angle.
void	turn_to (angle_t a)
	Like turn() but turn until facing a certain angle (as reported by internal pose estimation)
State	state ()
	Get current state.
void	stop ()
	Stop current motion.
distance_t	distance ()
	Return moved distance since last call to this function.
pose_t	pose ()
	Estimate current pose.

template<typename Roomba_P, typename Math_P>
class wiselib::RoombaMotion< Roomba_P, Math_P >

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Member Typedef Documentation

template<typename Roomba_P, typename Math_P>

typedef Roomba::angle_t wiselib::RoombaMotion< Roomba_P, Math_P >::angle_t

template<typename Roomba_P, typename Math_P>

typedef Roomba::angular_velocity_t wiselib::RoombaMotion< Roomba_P, Math_P >::angular_velocity_t

template<typename Roomba_P, typename Math_P>

typedef Roomba::distance_t wiselib::RoombaMotion< Roomba_P, Math_P >::distance_t

template<typename Roomba_P, typename Math_P>

typedef Math_P wiselib::RoombaMotion< Roomba_P, Math_P >::Math

template<typename Roomba_P, typename Math_P>

typedef Pose<angle_t, distance_t> wiselib::RoombaMotion< Roomba_P, Math_P >::pose_t

template<typename Roomba_P, typename Math_P>

typedef Roomba_P wiselib::RoombaMotion< Roomba_P, Math_P >::Roomba

template<typename Roomba_P, typename Math_P>

typedef RoombaMotion<Roomba_P, Math_P> wiselib::RoombaMotion< Roomba_P, Math_P >::self_t

template<typename Roomba_P, typename Math_P>

typedef Roomba::velocity_t wiselib::RoombaMotion< Roomba_P, Math_P >::velocity_t

---

Member Enumeration Documentation

template<typename Roomba_P, typename Math_P>

anonymous enum

Enumerator:

DEFAULT_VELOCITY
MAX_VELOCITY

template<typename Roomba_P, typename Math_P>

anonymous enum

Enumerator:

DEFAULT_ANGULAR_VELOCITY
MAX_ANGULAR_VELOCITY

template<typename Roomba_P, typename Math_P>

enum wiselib::RoombaMotion::State

Enumerator:

STATE_STOPPED
STATE_MOVING

---

Member Function Documentation

template<typename Roomba_P , typename Math_P >

void wiselib::RoombaMotion< Roomba_P, Math_P >::destruct

(

void

)

template<typename Roomba_P, typename Math_P>

distance_t wiselib::RoombaMotion< Roomba_P, Math_P >::distance

(

void

)

[inline]

Return moved distance since last call to this function.

template<typename Roomba_P , typename Math_P >

void wiselib::RoombaMotion< Roomba_P, Math_P >::init

(

void

)

template<typename Roomba_P, typename Math_P>

void wiselib::RoombaMotion< Roomba_P, Math_P >::init

(

Roomba &

roomba

)

template<typename Roomba_P, typename Math_P>

void wiselib::RoombaMotion< Roomba_P, Math_P >::move

(

velocity_t

v = DEFAULT_VELOCITY

)

[inline]

Drive straight with given velocity.

template<typename Roomba_P, typename Math_P>

void wiselib::RoombaMotion< Roomba_P, Math_P >::move_distance

(

distance_t

d

)

[inline]

Like move(), but stop after given distance.

template<typename Roomba_P, typename Math_P>

void wiselib::RoombaMotion< Roomba_P, Math_P >::move_to_wall

(

)

[inline]

Like move(), but stop when hitting a wall.

template<typename Roomba_P, typename Math_P>

pose_t wiselib::RoombaMotion< Roomba_P, Math_P >::pose

(

)

[inline]

Estimate current pose.

template<typename Roomba_P, typename Math_P>

State wiselib::RoombaMotion< Roomba_P, Math_P >::state

(

)

Get current state.

template<typename Roomba_P, typename Math_P>

void wiselib::RoombaMotion< Roomba_P, Math_P >::stop

(

)

[inline]

Stop current motion.

template<typename Roomba_P, typename Math_P>

void wiselib::RoombaMotion< Roomba_P, Math_P >::turn

(

angular_velocity_t

v = DEFAULT_ANGULAR_VELOCITY

)

[inline]

Turn counter-clockwise with given angular velocity.

template<typename Roomba_P, typename Math_P>

void wiselib::RoombaMotion< Roomba_P, Math_P >::turn_about

(

angle_t

a

)

[inline]

Like turn() but turn about given angle.

template<typename Roomba_P, typename Math_P>

void wiselib::RoombaMotion< Roomba_P, Math_P >::turn_to

(

angle_t

a

)

[inline]

Like turn() but turn until facing a certain angle (as reported by internal pose estimation)

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

• wiselib.testing/external_interface/pc/roomba_motion.h