SegwayRMP400 Position Driver. More...
#include <segwayrmp400.h>
Private Attributes | |
Device * | segwayrmp2d [2] |
child segwayrmp200 devices for 2d subsrciption | |
Device * | segwayrmp3d [2] |
child segwayrmp200 devices for 3d subsrciption | |
player_devaddr_t | segwayrmp2d_id [2] |
2d Position Interface Address (Output) | |
player_devaddr_t | segwayrmp3d_id [2] |
3d Position Interface Address (Output) | |
player_devaddr_t | position3d_id |
3d Position Interface Address (Input) | |
player_devaddr_t | position2d_id |
2d Position Interface Address (Input) | |
player_position2d_data_t | rmp2d_data [2] |
Incoming data from child segwayrmp200 devices 2d. | |
player_position3d_data_t | rmp3d_data [2] |
Incoming data from child segwayrmp200 devices 3d. | |
player_position2d_data_t | position2d_data |
Output data for parent segwayrmp400 device 2d. | |
player_position2d_cmd_vel_t | position2d_cmd |
Output cmd for parent segwayrmp400 device 2d. | |
player_position3d_data_t | position3d_data |
Output data for parent segwayrmp400 device 3d. | |
player_position3d_cmd_vel_t | position3d_cmd |
Output cmd for parent segwayrmp400 device 3d. | |
bool | provide_2d |
Provide 2d interface Flag. | |
bool | provide_3d |
Provide 3d interface Flag. | |
int | counter |
bool | newfront3d |
Flags for new data. | |
bool | newback3d |
bool | newfront2d |
bool | newback2d |
bool | fullspeed |
Flag for full speed data reporting. | |
SegwayRMP400 (ConfigFile *cf, int section) | |
Standard Constructor. | |
virtual int | MainSetup () |
Initialize (Player Standard) | |
virtual void | MainQuit () |
Shutdown (Player Standard) | |
void | Main () |
Main. | |
int | ProcessMessage (QueuePointer &resp_queue, player_msghdr_t *hdr, void *data) |
Process message function (Player Standard) | |
void | ProcessData () |
Packages position data and publishes. | |
int | HandlePosition3DCmd (player_position3d_cmd_vel_t *cmd) |
Internal method to handle position 3D commands. | |
int | HandlePosition2DCmd (player_position2d_cmd_vel_t *cmd) |
Internal method to handle position 2D commands. |
SegwayRMP400 Position Driver.
void SegwayRMP400::ProcessData | ( | ) | [private] |
Packages position data and publishes.
References newfront3d, position3d_data, player_position3d_data::pos, player_pose3d::px, rmp3d_data, player_pose3d::py, player_pose3d::pz, player_pose3d::proll, player_pose3d::ppitch, player_pose3d::pyaw, player_position3d_data::vel, position2d_data, player_position2d_data::pos, player_pose2d::px, rmp2d_data, player_pose2d::py, player_pose2d::pa, player_position2d_data::vel, fullspeed, Driver::Publish(), position3d_id, PLAYER_MSGTYPE_DATA, PLAYER_POSITION3D_DATA_STATE, position2d_id, and PLAYER_POSITION2D_DATA_STATE.
Referenced by Main().