YouBotBase Class Reference

It groups the base joints together. More...

#include <YouBotBase.hpp>

Public Member Functions
	YouBotBase (const std::string name, const std::string configFilePath="../config/")
virtual	~YouBotBase ()
void	doJointCommutation ()
	does the sine commutation of the base joints
YouBotJoint &	getBaseJoint (const unsigned int baseJointNumber)
	return a joint form the base
void	getBasePosition (quantity< si::length > &longitudinalPosition, quantity< si::length > &transversalPosition, quantity< plane_angle > &orientation)
	gets the cartesien base position which is calculated from the odometry
void	setBasePosition (const quantity< si::length > &longitudinalPosition, const quantity< si::length > &transversalPosition, const quantity< plane_angle > &orientation)
	sets the cartesien base position
void	getBaseVelocity (quantity< si::velocity > &longitudinalVelocity, quantity< si::velocity > &transversalVelocity, quantity< si::angular_velocity > &angularVelocity)
	gets the cartesien base velocity
void	setBaseVelocity (const quantity< si::velocity > &longitudinalVelocity, const quantity< si::velocity > &transversalVelocity, const quantity< si::angular_velocity > &angularVelocity)
	commands the base in cartesien velocities
virtual void	setJointData (const std::vector< JointAngleSetpoint > &JointData)
	commands positions or angles to all base joints all positions will be set at the same time
virtual void	getJointData (std::vector< JointSensedAngle > &data)
	gets the position or angle of all base joints which have been calculated from the actual encoder value These values are all read at the same time from the different joints
virtual void	setJointData (const std::vector< JointVelocitySetpoint > &JointData)
	commands velocities to all base joints all velocities will be set at the same time
virtual void	getJointData (std::vector< JointSensedVelocity > &data)
	gets the velocities of all base joints which have been calculated from the actual encoder values These values are all read at the same time from the different joints
virtual void	setJointData (const std::vector< JointCurrentSetpoint > &JointData)
	commands current to all base joints all current values will be set at the same time
virtual void	getJointData (std::vector< JointSensedCurrent > &data)
	gets the motor currents of all base joints which have been measured by a hal sensor These values are all read at the same time from the different joints
virtual void	setJointData (const std::vector< JointTorqueSetpoint > &JointData)
	commands torque to all base joints all torque values will be set at the same time
virtual void	getJointData (std::vector< JointSensedTorque > &data)
	gets the joint torque of all base joints which have been calculated from the current These values are all read at the same time from the different joints
Data Fields
FourSwedishWheelOmniBaseKinematic	youBotBaseKinematic
	This class represents the kinematic of the YouBot.

Detailed Description

It groups the base joints together.

Definition at line 79 of file YouBotBase.hpp.

Constructor & Destructor Documentation

YouBotBase	(	const std::string	name,
		const std::string	configFilePath = `"../config/"`
	)

Definition at line 54 of file YouBotBase.cpp.

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~YouBotBase ( ) [virtual]

Definition at line 83 of file YouBotBase.cpp.

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Member Function Documentation

void doJointCommutation ( )

does the sine commutation of the base joints

Definition at line 94 of file YouBotBase.cpp.

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YouBotJoint & getBaseJoint ( const unsigned int baseJointNumber )

return a joint form the base

Parameters:

baseJointNumber

1-4 for the base joints

Definition at line 109 of file YouBotBase.cpp.

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void getBasePosition	(	quantity< si::length > &	longitudinalPosition,
		quantity< si::length > &	transversalPosition,
		quantity< plane_angle > &	orientation
	)

gets the cartesien base position which is calculated from the odometry

Parameters:

	longitudinalPosition	is the forward or backward position
	transversalPosition	is the sideway position
	orientation	is the rotation around the center of the YouBot

Definition at line 122 of file YouBotBase.cpp.

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void getBaseVelocity	(	quantity< si::velocity > &	longitudinalVelocity,
		quantity< si::velocity > &	transversalVelocity,
		quantity< si::angular_velocity > &	angularVelocity
	)

gets the cartesien base velocity

Parameters:

	longitudinalVelocity	is the forward or backward velocity
	transversalVelocity	is the sideway velocity
	angularVelocity	is the rotational velocity around the center of the YouBot

Definition at line 194 of file YouBotBase.cpp.

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void getJointData ( std::vector< JointSensedTorque > & data ) [virtual]

gets the joint torque of all base joints which have been calculated from the current These values are all read at the same time from the different joints

Parameters:

data

returns the actual joint torque by reference

Definition at line 363 of file YouBotBase.cpp.

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void getJointData ( std::vector< JointSensedCurrent > & data ) [virtual]

gets the motor currents of all base joints which have been measured by a hal sensor These values are all read at the same time from the different joints

Parameters:

data

returns the actual motor currents by reference

Definition at line 331 of file YouBotBase.cpp.

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void getJointData ( std::vector< JointSensedVelocity > & data ) [virtual]

gets the velocities of all base joints which have been calculated from the actual encoder values These values are all read at the same time from the different joints

Parameters:

data

returns the velocities by reference

Definition at line 299 of file YouBotBase.cpp.

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void getJointData ( std::vector< JointSensedAngle > & data ) [virtual]

gets the position or angle of all base joints which have been calculated from the actual encoder value These values are all read at the same time from the different joints

Parameters:

data

returns the angles by reference

Definition at line 267 of file YouBotBase.cpp.

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void setBasePosition	(	const quantity< si::length > &	longitudinalPosition,
		const quantity< si::length > &	transversalPosition,
		const quantity< plane_angle > &	orientation
	)

sets the cartesien base position

Parameters:

	longitudinalPosition	is the forward or backward position
	transversalPosition	is the sideway position
	orientation	is the rotation around the center of the YouBot

Definition at line 149 of file YouBotBase.cpp.

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void setBaseVelocity	(	const quantity< si::velocity > &	longitudinalVelocity,
		const quantity< si::velocity > &	transversalVelocity,
		const quantity< si::angular_velocity > &	angularVelocity
	)

commands the base in cartesien velocities

Parameters:

	longitudinalVelocity	is the forward or backward velocity
	transversalVelocity	is the sideway velocity
	angularVelocity	is the rotational velocity around the center of the YouBot

Definition at line 222 of file YouBotBase.cpp.

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void setJointData ( const std::vector< JointTorqueSetpoint > & JointData ) [virtual]

commands torque to all base joints all torque values will be set at the same time

Parameters:

JointData

the to command torque

Definition at line 346 of file YouBotBase.cpp.

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void setJointData ( const std::vector< JointCurrentSetpoint > & JointData ) [virtual]

commands current to all base joints all current values will be set at the same time

Parameters:

JointData

the to command current

Definition at line 314 of file YouBotBase.cpp.

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void setJointData ( const std::vector< JointVelocitySetpoint > & JointData ) [virtual]

commands velocities to all base joints all velocities will be set at the same time

Parameters:

JointData

the to command velocities

Definition at line 282 of file YouBotBase.cpp.

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void setJointData ( const std::vector< JointAngleSetpoint > & JointData ) [virtual]

commands positions or angles to all base joints all positions will be set at the same time

Parameters:

JointData

the to command positions

Definition at line 249 of file YouBotBase.cpp.

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Field Documentation

FourSwedishWheelOmniBaseKinematic youBotBaseKinematic

This class represents the kinematic of the YouBot.

Definition at line 117 of file YouBotBase.hpp.

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

YouBotBase Class Reference

Public Member Functions

Data Fields

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation