laelaps::LaeDescBase Class Reference

Robotic base platform description. More...

#include <laeDesc.h>

Public Member Functions
	LaeDescBase ()
	Default constructor.
virtual	~LaeDescBase ()
	Destructor.
LaeDescBase	operator= (const LaeDescBase &rhs)
	Assignment operator. More...
void	clear ()
	Clear description.
void	calcDimensions (double fTireRadius, double fTireWidth)
	Calculate robot dimensions. More...
virtual void	print (int indent=0)
	Print out description to stdout. More...

Public Attributes
std::string	m_strKey
	base name
Dim	m_dimRobot
	robot full dimensions(m)
Dim	m_dimBody
	body dimensions(m)
double	m_fWheelbase
	wheelbase(m)
double	m_fWheeltrack
	wheeltrack(m)
int	m_nNumMotorCtlrs
	number of motor controllers
int	m_nNumMotors
	number of motors

Detailed Description

Robotic base platform description.

A base includes the body, suspension, power supply, and fixed interfaces.

Definition at line 113 of file laeDesc.h.

Member Function Documentation

void LaeDescBase::calcDimensions	(	double	fTireRadius,
		double	fTireWidth
	)

Calculate robot dimensions.

Parameters

fTireRadius	Tire radius (meters).
fTireWidth	Tire width (meters).

Definition at line 140 of file laeDesc.cxx.

References LaeDimFrontBumper, LaeDimWheelShaftOffset, m_dimBody, m_dimRobot, m_fWheelbase, m_fWheeltrack, laelaps::Dim::m_height, laelaps::Dim::m_length, and laelaps::Dim::m_width.

Referenced by laelaps::LaePlatform::configure(), and LaeDescBase().

{
  //
  // Robot outer dimensions.
  //
  m_dimRobot.m_width  = m_dimBody.m_width +
                          2.0 * LaeDimWheelShaftOffset.m_width +
                          2.0 * fTireWidth;

  m_dimRobot.m_height = m_dimBody.m_height +
                          LaeDimWheelShaftOffset.m_height +
                          fTireRadius;

  m_dimRobot.m_length = m_dimBody.m_length + 
                          LaeDimFrontBumper.m_width;

  //
  // Wheelbase is measured from the centers of rotation of the front and rear
  // axes.
  //
  m_fWheelbase        = m_dimBody.m_length +
                          2.0 * LaeDimWheelShaftOffset.m_length;

  //
  // Wheeltrack is measured from the centers of width between the left and right
  // tires.
  //
  m_fWheeltrack       = m_dimBody.m_width +
                          2.0 * LaeDimWheelShaftOffset.m_width +
                          fTireWidth;
}

LaeDescBase LaeDescBase::operator=

(

const LaeDescBase &

rhs

)

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

this.

Definition at line 116 of file laeDesc.cxx.

References m_dimBody, m_dimRobot, m_fWheelbase, m_fWheeltrack, m_nNumMotorCtlrs, m_nNumMotors, and m_strKey.

{
  m_strKey            = rhs.m_strKey;
  m_dimRobot          = rhs.m_dimRobot;
  m_dimBody           = rhs.m_dimBody;
  m_fWheelbase        = rhs.m_fWheelbase;
  m_fWheeltrack       = rhs.m_fWheeltrack;
  m_nNumMotorCtlrs    = rhs.m_nNumMotorCtlrs;
  m_nNumMotors        = rhs.m_nNumMotors;

  return *this;
}

void LaeDescBase::print ( int  indent = 0 )

virtual

Print out description to stdout.

Parameters

indent

Left indentation.

Definition at line 172 of file laeDesc.cxx.

References m_dimBody, m_dimRobot, m_fWheelbase, m_fWheeltrack, laelaps::Dim::m_height, laelaps::Dim::m_length, m_nNumMotorCtlrs, m_nNumMotors, m_strKey, and laelaps::Dim::m_width.

Referenced by laelaps::LaeDesc::getProdHwVer(), and laelaps::LaeDesc::print().

{
  printf("%*sPlatform Description =\n", indent, "");
  printf("%*s{\n", indent, "");

  printf("%*sKey = %s\n", indent+2, "", m_strKey.c_str());

  printf("%*sOuter Dimensions =\n", indent+2, "");
  printf("%*s{\n", indent+2, "");
  printf("%*sWidth  = %.3lf\n", indent+4, "", m_dimRobot.m_width);
  printf("%*sHeight = %.3lf\n", indent+4, "", m_dimRobot.m_height);
  printf("%*sLength = %.3lf\n", indent+4, "", m_dimRobot.m_length);
  printf("%*s}\n", indent+2, "");

  printf("%*sBody Dimensions =\n", indent+2, "");
  printf("%*s{\n", indent+2, "");
  printf("%*sWidth  = %.3lf\n", indent+4, "", m_dimBody.m_width);
  printf("%*sHeight = %.3lf\n", indent+4, "", m_dimBody.m_height);
  printf("%*sLength = %.3lf\n", indent+4, "", m_dimBody.m_length);
  printf("%*s}\n", indent+2, "");

  printf("%*sWheelbase              = %.3lf\n", indent+2, "", m_fWheelbase);
  printf("%*sWheeltrack             = %.3lf\n", indent+2, "", m_fWheeltrack);
  printf("%*sNumber of Motors Ctlrs = %d\n", indent+2, "", m_nNumMotorCtlrs);
  printf("%*sNumber of Motors       = %d\n", indent+2, "", m_nNumMotors);

  printf("%*s}\n", indent, "");
}

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

• include/Laelaps/laeDesc.h
• sw/liblaelaps/laeDesc.cxx