laelaps::LaeRptDynamics Class Reference

Laelaps dynamics report. More...

#include <laeReports.h>

Public Types
typedef std::vector< LaeRptDynPowertrain >	VecDynPowertrain

Public Member Functions
	LaeRptDynamics ()
	Default constructor.
	LaeRptDynamics (const LaeRptDynamics &src)
	Copy constructor.
	~LaeRptDynamics ()
	Destructor.
LaeRptDynamics	operator= (const LaeRptDynamics &rhs)
	Assignment operator. More...
void	clear ()
	Clear report.
void	generate (LaeRobot *pRobot)
	Generate report. More...

Public Attributes
LaePose	m_pose
	robot 2D pose (meters, meters, radians)
double	m_fOdometer
	robot odometer (meters)
double	m_fVelocity
	robot linear velocity v (meters/second)
VecDynPowertrain	m_vecDynPowertrain
	powertrains' state

Detailed Description

Laelaps dynamics report.

Definition at line 302 of file laeReports.h.

Member Function Documentation

void LaeRptDynamics::generate

(

LaeRobot *

pRobot

)

Generate report.

Parameters

pRobot

Pointer to the robot (not used).

Definition at line 403 of file laeReports.cxx.

References laelaps::LaeRptDynPowertrain::clear(), laelaps::LaeRptDynPowertrain::generate(), and laelaps::LaeRptDynPowertrain::m_fVelocity.

Referenced by laelaps::LaeRobot::getDynamics().

{
  int                 nMotorId;
  LaeRptDynPowertrain pt;

  //
  // Platform dynamics
  //
  m_pose.m_x      = RtDb.m_kin.m_robot.m_x;
  m_pose.m_y      = RtDb.m_kin.m_robot.m_y;
  m_pose.m_theta  = RtDb.m_kin.m_robot.m_theta;
  m_fOdometer     = RtDb.m_kin.m_robot.m_fOdometer;
  m_fVelocity     = RtDb.m_kin.m_robot.m_fVelocity;
 
  //
  // Powertrain dynamics
  //
  for(nMotorId = 0; nMotorId < LaeMotorsNumOf; ++nMotorId)
  {
    pt.clear();
    pt.generate(nMotorId);
    m_vecDynPowertrain.push_back(pt);
  }
}

LaeRptDynamics LaeRptDynamics::operator=

(

const LaeRptDynamics &

rhs

)

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 385 of file laeReports.cxx.

References m_fOdometer, m_fVelocity, m_pose, and m_vecDynPowertrain.

{
  m_pose          = rhs.m_pose;
  m_fOdometer     = rhs.m_fOdometer;
  m_fVelocity     = rhs.m_fVelocity;
  m_vecDynPowertrain = rhs.m_vecDynPowertrain;

  return *this;
}

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

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