OdometrySensor Struct Reference

Odometry is presently only used for the Create robot, which reports cumulative distances and angles. More...

#include <SensorInfo.h>

Inheritance diagram for OdometrySensor:

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Detailed Description

Odometry is presently only used for the Create robot, which reports cumulative distances and angles.

Definition at line 173 of file SensorInfo.h.

List of all members.

Public Member Functions
	OdometrySensor ()
	constructor
	OdometrySensor (const OdometrySensor &s)
	copy constructor for cloning
virtual void	declareValues (DynamicRobotState &values)
	Subclass should add name/value pairs to the dictionary to allow variable number of values per Sensor, as well as fast filtering and serialization to subscribers.
virtual void	reclaimValues (DynamicRobotState &values)
	Subclass should remove values added via previous declareValues().
virtual OdometrySensor *	clone () const __attribute__((warn_unused_result))
	clone implementation for Dictionary
Public Attributes
plist::Primitive< std::string >	forwardSensorName
	Name of the sensor instance, to match up with the sensorNames[] in RobotInfo header.
plist::Primitive< std::string >	leftSensorName
	Name of the sensor instance, to match up with the sensorNames[] in RobotInfo header.
plist::Primitive< std::string >	upSensorName
	Name of the sensor instance, to match up with the sensorNames[] in RobotInfo header.
plist::Primitive< std::string >	headingSensorName
	Name of the sensor instance, to match up with the sensorNames[] in RobotInfo header.
plist::Primitive< std::string >	leftEncoderSensorName
	Name of the left encoder instance, to match up with the SensorNames[] in RobotInfo header.
plist::Primitive< std::string >	rightEncoderSensorName
	Name of the right encoder instance, to match up with the SensorNames[] in RobotInfo header.
float	lastX
	previous displacement along the X axis
float	lastY
	previous displacement along the Y axis
float	lastZ
	previous displacement along the Z axis
float	lastHeading
	previous heading
float	deltaX
	current displacement along the X axis
float	deltaY
	current displacement along the Y axis
float	deltaZ
	current displacement along the Z axis
float	deltaHeading
	current heading change
plist::Primitive< float >	cumX
	cumulative displacement along the X axis
plist::Primitive< float >	cumY
	cumulative displacement along the Y axis
plist::Primitive< float >	cumZ
	cumulative displacement along the Z axis
plist::Primitive< float >	cumHeading
	cumulative heading change
plist::Primitive< float >	wheelCircumference
	wheel circumference in mm (72.0 for Create2)
plist::Primitive< float >	wheelBase
	wheel base in mm (235.0 for Create2)
plist::Primitive< float >	encoderTicksPerRev
	number of encoder ticks per revolution (508.8 for Create2)
plist::Primitive< float >	leftEncoder
	left encoder value for Create-like robots
plist::Primitive< float >	rightEncoder
	rightencoder value for Create-like robots
Static Public Attributes
static const std::string	autoRegister = FamilyFactory<SensorInfo>::getRegistry().registerType<OdometrySensor>("Odometry")
	Provides registration with FamilyFactory<SensorInfo>
Protected Member Functions
void	init ()
	performs common initialization

Constructor & Destructor Documentation

OdometrySensor::OdometrySensor ( )

constructor

Definition at line 175 of file SensorInfo.h.

OdometrySensor::OdometrySensor ( const OdometrySensor & s )

copy constructor for cloning

Definition at line 186 of file SensorInfo.h.

Member Function Documentation

OdometrySensor * OdometrySensor::clone ( ) const [virtual]

clone implementation for Dictionary

implements the clone function for dictionary

Implements SensorInfo.

Definition at line 12 of file SensorInfo.cc.

virtual void OdometrySensor::declareValues ( DynamicRobotState & values ) [virtual]

Subclass should add name/value pairs to the dictionary to allow variable number of values per Sensor, as well as fast filtering and serialization to subscribers.

A reference to a permanent plist::Primitive<float> instance should be added, this is how values are extracted from the sensor via this shared value.

Implements SensorInfo.

Definition at line 196 of file SensorInfo.h.

void OdometrySensor::init ( ) [protected]

performs common initialization

Reimplemented from SensorInfo.

Definition at line 253 of file SensorInfo.h.

Referenced by OdometrySensor().

virtual void OdometrySensor::reclaimValues ( DynamicRobotState & values ) [virtual]

Subclass should remove values added via previous declareValues().

Implements SensorInfo.

Definition at line 211 of file SensorInfo.h.