SegwayRmpFake
[SegwayRmp drivers, C++, Linux, Windows]

A fake implementation useful for debugging. More...

A fake implementation useful for debugging.

read() returns fake odometry at configurable rate.

write() simulates hardware failure when commanded velocity exceeds 2m/s by throwing exception.

The rest of the functions do nothing.

Configuration

• Fake.SleepInterval (int)
  • Time spent sleeping before returning from read() function.
  • Simulates configurable data rate. This value does NOT set the data rate exactly because the time spent between calls to read() are not taken into acount.
  • Units: milliseconds
  • Constraints: non-negative integer (throws gbxutilacfr::Exception when not satisfied)
  • Default: 1000

Dependencies.

• libIceUtil (for timing)