EpuckPosition2d Class Reference

It controls the e-puck velocity and odometry. More...

#include <epuckPosition2d.hpp>

Inheritance diagram for EpuckPosition2d:

Collaboration diagram for EpuckPosition2d:

Detailed Description

It controls the e-puck velocity and odometry.

Author

Renato Florentino Garcia

Date

August 2008

Classes
struct	BodyGeometry
	Struct which represents the geometry of e-puck body. More...
struct	DynamicConfiguration
	Struct which represents the pose and velocity of e-puck. More...

Public Member Functions
	EpuckPosition2d (const SerialPort *const serialPort)
	The EpuckPosition2d class constructor.
void	SetVel (float px, float pa) const
	Set linear and angular velocities to e-puck.
DynamicConfiguration	UpdateOdometry ()
	Estimate the current pose and velocities.
void	SetOdometry (Triple odometry)
	Set the current pose estimated by odometry.
void	ResetOdometry ()
	Set the current pose estimated by odometry - (x,y,theta) - to (0,0,0).
void	StopMotors () const
	Stop the e-puck motors.
BodyGeometry	GetGeometry () const
	Give the e-puck geometry.

Private Attributes
EpuckTimer	timer
DynamicConfiguration	odometryState
BodyGeometry	geometry

Static Private Attributes
static const float	WHEEL_DIAMETER = 0.0412
static const float	TRACK = 0.05255
static const float	r_DIV_L = 0.392007612
static const float	r_DIV_2 = 0.0103
static const float	STEP_ANG_DISP = 6.283185308e-3

Additional Inherited Members
Protected Types inherited from EpuckInterface
enum	Request {   CONFIG_CAMERA = 0x02 , SET_VEL = 0x13 , GET_STEPS = 0x14 , STOP_MOTORS = 0x15 ,   GET_IR_PROX = 0x16 , GET_CAMERA_IMG = 0x17 , SET_LED_POWER = 0x18 }
	Request codes acceptable by e-puck. More...
Protected Member Functions inherited from EpuckInterface
	EpuckInterface (const SerialPort *const serialPort)
	The EpuckInterface class constructor.
void	SendRequest (Request request) const
Protected Attributes inherited from EpuckInterface
const SerialPort *const	serialPort
	A SerialPort class instance shared among the device interfaces.
Static Protected Attributes inherited from EpuckInterface
static const float	EPUCK_DIAMETER = 0.07
	Diameter of e-puck body [m].

Constructor & Destructor Documentation

EpuckPosition2d()

EpuckPosition2d::EpuckPosition2d

(

const SerialPort *const

serialPort

)

The EpuckPosition2d class constructor.

Parameters

serialPort

Pointer for a SerialPort class already created and connected with an e-puck.

References EpuckInterface::EPUCK_DIAMETER, EpuckInterface::EpuckInterface(), and EpuckInterface::serialPort.

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Member Function Documentation

GetGeometry()

BodyGeometry EpuckPosition2d::GetGeometry ( ) const

inline

Give the e-puck geometry.

Returns

A BodyGeometry struct.

SetOdometry()

void EpuckPosition2d::SetOdometry

(

Triple

odometry

)

Set the current pose estimated by odometry.

Set the internal representation for e-puck current pose estimated from odometry to the given value.

Parameters

odometry

The value which will be set.

References EpuckInterface::GET_STEPS, EpuckInterface::serialPort, EpuckInterface::Triple::theta, EpuckInterface::Triple::x, and EpuckInterface::Triple::y.

SetVel()

void EpuckPosition2d::SetVel	(	float	px,
		float	pa ) const

Set linear and angular velocities to e-puck.

Receive the linear and agular velocities, convert to correspondent steps per seconds motors commands and send to e-puck.

Parameters

px	Linear velocity. [m/s]
pa	Angular velocity. [rad/s]

References EpuckInterface::serialPort, and EpuckInterface::SET_VEL.

StopMotors()

void EpuckPosition2d::StopMotors

(

)

const

Stop the e-puck motors.

Stop the two motors and update the odometry by the steps yet non computed.

References EpuckInterface::serialPort, and EpuckInterface::STOP_MOTORS.

UpdateOdometry()

EpuckPosition2d::DynamicConfiguration EpuckPosition2d::UpdateOdometry

(

)

Estimate the current pose and velocities.

Receive from e-puck the motors steps made since the last call at this function, and estimate the new current pose and velocities.

Returns

A DynamicConfiguration struct.

References EpuckInterface::GET_STEPS, and EpuckInterface::serialPort.

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

• epuckPosition2d.hpp
• epuckPosition2d.cpp