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mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem::TRobotMotionControl Struct Reference

This struct is used as a placeholder for fuctors related to robot movement. More...

#include <mrpt/reactivenav/CAbstractReactiveNavigationSystem.h>

List of all members.

Public Member Functions

 TRobotMotionControl ()

Public Attributes

bool(* getCurrentPoseAndSpeeds )(mrpt::poses::CPose2D &curPose, float &curV, float &curW)
 This wrapper function is used to get the current pose and speeds of the robot.
bool(* changeSpeeds )(float v, float w)
 This wrapper function is used to change the instantaneous speeds of robot.
bool(* stop )()
 This wrapper function is used for stop the robot definitely, until a new speed is set.
bool(* startWatchdog )(float T_ms)
 This wrapper function is used for starting the watchdog timer module.
bool(* stopWatchdog )()
 This wrapper function is used for stoping the watchdog timer module.


Detailed Description

This struct is used as a placeholder for fuctors related to robot movement.

Definition at line 128 of file CAbstractReactiveNavigationSystem.h.


Constructor & Destructor Documentation

mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem::TRobotMotionControl::TRobotMotionControl (  )  [inline]

Definition at line 130 of file CAbstractReactiveNavigationSystem.h.


Member Data Documentation

bool(* mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem::TRobotMotionControl::changeSpeeds)(float v, float w)

This wrapper function is used to change the instantaneous speeds of robot.

Parameters:
v Linear speed, in meters per second.
w Angular speed, in radians per second.

bool(* mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem::TRobotMotionControl::getCurrentPoseAndSpeeds)(mrpt::poses::CPose2D &curPose, float &curV, float &curW)

This wrapper function is used to get the current pose and speeds of the robot.

Parameters:
curPose Current robot pose.
curV Current linear speed, in meters per second.
curW Current angular speed, in radians per second.

bool(* mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem::TRobotMotionControl::startWatchdog)(float T_ms)

This wrapper function is used for starting the watchdog timer module.

Parameters:
T_ms Period, in ms.

bool(* mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem::TRobotMotionControl::stop)()

This wrapper function is used for stop the robot definitely, until a new speed is set.

bool(* mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem::TRobotMotionControl::stopWatchdog)()

This wrapper function is used for stoping the watchdog timer module.




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