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SegwayRMP400 Position Driver. More...
#include <segwayrmp400.h>
Private Attributes | |
| Device * | segwayrmp2d [2] |
| child segwayrmp200 devices for 2d subsrciption | |
| Device * | segwayrmp3d [2] |
| child segwayrmp200 devices for 3d subsrciption | |
| player_devaddr_t | segwayrmp2d_id [2] |
| 2d Position Interface Address (Output) | |
| player_devaddr_t | segwayrmp3d_id [2] |
| 3d Position Interface Address (Output) | |
| player_devaddr_t | position3d_id |
| 3d Position Interface Address (Input) | |
| player_devaddr_t | position2d_id |
| 2d Position Interface Address (Input) | |
| player_position2d_data_t | rmp2d_data [2] |
| Incoming data from child segwayrmp200 devices 2d. | |
| player_position3d_data_t | rmp3d_data [2] |
| Incoming data from child segwayrmp200 devices 3d. | |
| player_position2d_data_t | position2d_data |
| Output data for parent segwayrmp400 device 2d. | |
| player_position2d_cmd_vel_t | position2d_cmd |
| Output cmd for parent segwayrmp400 device 2d. | |
| player_position3d_data_t | position3d_data |
| Output data for parent segwayrmp400 device 3d. | |
| player_position3d_cmd_vel_t | position3d_cmd |
| Output cmd for parent segwayrmp400 device 3d. | |
| bool | provide_2d |
| Provide 2d interface Flag. | |
| bool | provide_3d |
| Provide 3d interface Flag. | |
| int | counter |
| bool | newfront3d |
| Flags for new data. | |
| bool | newback3d |
| bool | newfront2d |
| bool | newback2d |
| bool | fullspeed |
| Flag for full speed data reporting. | |
| SegwayRMP400 (ConfigFile *cf, int section) | |
| Standard Constructor. | |
| virtual int | MainSetup () |
| Initialize (Player Standard) | |
| virtual void | MainQuit () |
| Shutdown (Player Standard) | |
| void | Main () |
| Main. | |
| int | ProcessMessage (QueuePointer &resp_queue, player_msghdr_t *hdr, void *data) |
| Process message function (Player Standard) | |
| void | ProcessData () |
| Packages position data and publishes. More... | |
| int | HandlePosition3DCmd (player_position3d_cmd_vel_t *cmd) |
| Internal method to handle position 3D commands. | |
| int | HandlePosition2DCmd (player_position2d_cmd_vel_t *cmd) |
| Internal method to handle position 2D commands. | |
Additional Inherited Members | |
 Public Member Functions inherited from ThreadedDriver | |
| ThreadedDriver (ConfigFile *cf, int section, bool overwrite_cmds, size_t queue_maxlen, int interf) | |
| Constructor with implicit interface. More... | |
| ThreadedDriver (ConfigFile *cf, int section, bool overwrite_cmds=true, size_t queue_maxlen=PLAYER_MSGQUEUE_DEFAULT_MAXLEN) | |
| Constructor for multiple-interface drivers. More... | |
| virtual | ~ThreadedDriver () |
| Destructor. | |
| virtual int | Setup () |
| Initialize the driver. More... | |
| virtual int | Shutdown () |
| Finalize the driver. More... | |
| virtual int | Terminate () |
| Terminate the driver. More... | |
| bool | Wait (double TimeOut=0.0) |
| Wait for new data to arrive on the driver's queue. More... | |
| virtual void | Update () |
| Update non-threaded drivers. More... | |
| Public Member Functions inherited from Driver | |
| bool | HasSubscriptions () |
| virtual void | Publish (player_devaddr_t addr, QueuePointer &queue, uint8_t type, uint8_t subtype, void *src=NULL, size_t deprecated=0, double *timestamp=NULL, bool copy=true) |
| Publish a message via one of this driver's interfaces. More... | |
| virtual void | Publish (player_devaddr_t addr, uint8_t type, uint8_t subtype, void *src=NULL, size_t deprecated=0, double *timestamp=NULL, bool copy=true) |
| Publish a message via one of this driver's interfaces. More... | |
| virtual void | Publish (QueuePointer &queue, player_msghdr_t *hdr, void *src, bool copy=true) |
| Publish a message via one of this driver's interfaces. More... | |
| virtual void | Publish (player_msghdr_t *hdr, void *src, bool copy=true) |
| Publish a message via one of this driver's interfaces. More... | |
| Driver (ConfigFile *cf, int section, bool overwrite_cmds, size_t queue_maxlen, int interf) | |
| Constructor for single-interface drivers. More... | |
| Driver (ConfigFile *cf, int section, bool overwrite_cmds=true, size_t queue_maxlen=PLAYER_MSGQUEUE_DEFAULT_MAXLEN) | |
| Constructor for multiple-interface drivers. More... | |
| virtual | ~Driver () |
| Destructor. | |
| int | GetError () |
| Get last error value. More... | |
| virtual int | Subscribe (player_devaddr_t addr) |
| Subscribe to this driver. More... | |
| virtual int | Subscribe (QueuePointer &queue, player_devaddr_t addr) |
| Subscribe to this driver. More... | |
| virtual int | Unsubscribe (player_devaddr_t addr) |
| Unsubscribe from this driver. More... | |
| virtual int | Unsubscribe (QueuePointer &queue, player_devaddr_t addr) |
| Unsubscribe from this driver. More... | |
| void | ProcessMessages (int maxmsgs) |
| Process pending messages. More... | |
| void | ProcessMessages (void) |
| Process pending messages. More... | |
| virtual int | ProcessInternalMessages (QueuePointer &resp_queue, player_msghdr *hdr, void *data) |
| Internal message handler. More... | |
| virtual bool | RegisterProperty (const char *key, Property *prop, ConfigFile *cf, int section) |
| Property registration. More... | |
| virtual bool | RegisterProperty (Property *prop, ConfigFile *cf, int section) |
| Property registration. More... | |
| Public Attributes inherited from Driver | |
| QueuePointer | ret_queue |
| Last requester's queue. More... | |
| player_devaddr_t | device_addr |
| Default device address (single-interface drivers) | |
| int | entries |
| Total number of entries in the device table using this driver. More... | |
| bool | alwayson |
| Always on flag. More... | |
| QueuePointer | InQueue |
| Queue for all incoming messages for this driver. | |
| Protected Member Functions inherited from ThreadedDriver | |
| virtual void | StartThread (void) |
| virtual void | StopThread (void) |
| Cancel (and wait for termination) of the driver thread. More... | |
| void | TestCancel () |
| enable thread cancellation and test for cancellation More... | |
| Protected Member Functions inherited from Driver | |
| int | AddInterface (player_devaddr_t addr) |
| Add an interface. More... | |
| int | AddInterface (player_devaddr_t *addr, ConfigFile *cf, int section, int code, const char *key=NULL) |
| Add an interface. More... | |
| void | SetError (int code) |
| Set/reset error code. | |
| int | AddFileWatch (int fd, bool ReadWatch=true, bool WriteWatch=false, bool ExceptWatch=true) |
| Wake up the driver if the specified event occurs on the file descriptor. | |
| int | RemoveFileWatch (int fd, bool ReadWatch=true, bool WriteWatch=false, bool ExceptWatch=true) |
| Remove a previously added watch, call with the same arguments as when adding the watch. | |
| virtual void | Lock (void) |
| Lock access between the server and driver threads. More... | |
| virtual void | Unlock (void) |
| Unlock access to driver internals. More... | |
| virtual void | SubscriptionLock (void) |
| Lock to protect the subscription count for the driver. | |
| virtual void | SubscriptionUnlock (void) |
| Unlock to protect the subscription count for the driver. More... | |
| Static Protected Member Functions inherited from ThreadedDriver | |
| static void * | DummyMain (void *driver) |
| Dummy main (just calls real main). More... | |
| static void | DummyMainQuit (void *driver) |
| Dummy main cleanup (just calls real main cleanup). More... | |
SegwayRMP400 Position Driver.
|
private |
Packages position data and publishes.
References fullspeed, newfront3d, player_pose2d::pa, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, PLAYER_POSITION3D_DATA_STATE, player_position2d_data::pos, player_position3d_data::pos, position2d_data, position2d_id, position3d_data, position3d_id, player_pose3d::ppitch, player_pose3d::proll, Driver::Publish(), player_pose2d::px, player_pose3d::px, player_pose2d::py, player_pose3d::py, player_pose3d::pyaw, player_pose3d::pz, rmp2d_data, rmp3d_data, player_position2d_data::vel, and player_position3d_data::vel.
Referenced by Main().