hydrointerfaces::Robot2d Class Reference
[Robot2d]

Abstract interface class for providing access to a generic 2D robotic platform. More...

#include <robot2d.h>

Inherited by robot2dfake::Driver, and robot2dplayerclient::Driver.

List of all members.

Classes
class	Command
	Motion command structure. More...
class	Data
	Data structure More...
class	Exception
	Exception thrown by implementations of Robot2d interface. More...
Public Member Functions
virtual void	enable ()=0
virtual bool	read (Data &data)=0
virtual void	write (const Command &command)=0
	Writes motion command.
virtual void	getStatus (std::string &status, bool &isWarn, bool &isFault)=0
virtual void	applyHardwareLimits (double &maxForwardSpeed, double &maxReverseSpeed, double &maxTurnrate, double &maxTurnrateAtMaxSpeed)=0
	Modifies the arguments, thresholding to match what this hardware can actually do.

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Detailed Description

Abstract interface class for providing access to a generic 2D robotic platform.

Member functions throw Exception on error conditions.

The implementations of this interface are not expected to be thread-safe.

Author:

Alex Makarenko, Alex Brooks

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Member Function Documentation

virtual void hydrointerfaces::Robot2d::enable

(

)

[pure virtual]

Throws Exception on failure. It is not an error to call this repeatedly: repeated calls should re-initialise the hardware. (eg this will be called if the hardware reports an error condition)

virtual void hydrointerfaces::Robot2d::getStatus	(	std::string &	status,
		bool &	isWarn,
		bool &	isFault
	)			[pure virtual]

Get information about the current status of the driver. the string 'status' is a human-readable description. Note that there are two ways for faults to be notified:

• This function tells of hardware faults reported normally by the hardware.
• Exceptions can be thrown from read/write for non-recoverable faults, such as inability to communicate with the hardware.

virtual bool hydrointerfaces::Robot2d::read

(

Data &

data

)

[pure virtual]

Blocking read. Returns: true: important change in internal state occured (details can be read with getStatus). false: no important change

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

• robot2d.h