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hydrointerfaces::SegwayRmp Class Reference [SegwayRmp] Abstract interface class for providing access to Segway's RMP robotic platform. More... #include <segwayrmp.h> Inherited by segwayrmpacfr::Driver, segwayrmpfake::Driver, and segwayrmpplayerclient::Driver. List of all members. 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 &maxLateralAcceleration)=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 SegwayRmp interface. More... Detailed Description Abstract interface class for providing access to Segway's RMP 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 Member Function Documentation virtual void hydrointerfaces::SegwayRmp::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::SegwayRmp::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::SegwayRmp::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 The documentation for this class was generated from the following file: segwayrmp.h

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