mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem::TRobotMotionControl Struct Reference

This struct is used as a placeholder for fuctors related to robot movement. More...

#include <mrpt/reactivenav/CAbstractReactiveNavigationSystem.h>

List of all members.

Public Member Functions
	TRobotMotionControl ()
Public Attributes
bool(*	getCurrentPoseAndSpeeds )(mrpt::poses::CPose2D &curPose, float &curV, float &curW)
	This wrapper function is used to get the current pose and speeds of the robot.
bool(*	changeSpeeds )(float v, float w)
	This wrapper function is used to change the instantaneous speeds of robot.
bool(*	stop )()
	This wrapper function is used for stop the robot definitely, until a new speed is set.
bool(*	startWatchdog )(float T_ms)
	This wrapper function is used for starting the watchdog timer module.
bool(*	stopWatchdog )()
	This wrapper function is used for stoping the watchdog timer module.

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Detailed Description

This struct is used as a placeholder for fuctors related to robot movement.

Definition at line 128 of file CAbstractReactiveNavigationSystem.h.

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Constructor & Destructor Documentation

mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem::TRobotMotionControl::TRobotMotionControl

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[inline]

Definition at line 130 of file CAbstractReactiveNavigationSystem.h.

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Member Data Documentation

bool(* mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem::TRobotMotionControl::changeSpeeds)(float v, float w)

This wrapper function is used to change the instantaneous speeds of robot.

Parameters:

	v	Linear speed, in meters per second.
	w	Angular speed, in radians per second.

bool(* mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem::TRobotMotionControl::getCurrentPoseAndSpeeds)(mrpt::poses::CPose2D &curPose, float &curV, float &curW)

This wrapper function is used to get the current pose and speeds of the robot.

Parameters:

	curPose	Current robot pose.
	curV	Current linear speed, in meters per second.
	curW	Current angular speed, in radians per second.

bool(* mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem::TRobotMotionControl::startWatchdog)(float T_ms)

This wrapper function is used for starting the watchdog timer module.

Parameters:

T_ms

Period, in ms.

bool(* mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem::TRobotMotionControl::stop)()

This wrapper function is used for stop the robot definitely, until a new speed is set.

bool(* mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem::TRobotMotionControl::stopWatchdog)()

This wrapper function is used for stoping the watchdog timer module.