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hydrointerfaces::Robot2d Class ReferenceAbstract interface class for providing access to a generic 2D robotic platform.
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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. | |
Classes | |
class | Command |
Motion command structure. More... | |
class | Data |
Data structure More... | |
class | Exception |
Exception thrown by implementations of Robot2d interface. More... |
Member functions throw Exception on error conditions.
The implementations of this interface are not expected to be thread-safe.
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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) |
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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:
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Blocking read. Returns: true: important change in internal state occured (details can be read with getStatus). false: no important change |
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