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Drive Class Reference

#include <Drive.h>

List of all members.

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Detailed Description

This class provides methods to control the robot drive. The class is designed as a singleton class. This is to ensure that the drive initialization process is only executed once as multiple initializations will result in errors. So at any given time there is at most one instance of the class. The method Drive::getDrive() is used to access that instance. If not otherwise indicated the drive command are non-blocking. I.e. the method returns once the drive command has been passed to the robot drive. Only few methods are blocking and wait till the successful execution of the drive command before they return.

Author:

Jia L. Du

Public Member Functions
bool	initialize ()
void	setStandardSpeed (double speed, double omega)
void	setPosition (double x, double y, double phi)
void	getPosition (double &x, double &y, double &phi)
void	driveWith (double speed, double omega)
void	drive (double distance)
void	driveCircle (double radius, double angle)
bool	driveTo (double x, double y)
bool	driveTo (double x, double y, double phi)
void	turnRight (double angle)
void	turnLeft (double angle)
void	turnTo (double angle)
bool	done ()
void	wait ()
bool	stalled ()
double	getRotationAngleTo (double pointX, double pointY)
double	getRotationAngle (double baseX, double baseY, double pointX, double pointY, double phi)
void	driveCurveTo (double x, double y)
void	turn (double angle)
void	turnLeft ()
void	turnRight ()
void	driveCurve (double distanceOnCurve, double deltaPhi)
void	stop ()
void	driveStraight ()
void	backup ()
double	distanceTo (double x, double y)
bool	commandCompleted ()
void	local2global (double robotX, double robotY, double robotPhi, double localX, double localY, double &globalX, double &globalY)
Static Public Member Functions
Drive *	getDrive ()
Protected Member Functions
	Drive ()
	~Drive ()
bool	release ()
Private Attributes
VWHandle	vwDriveHandle
double	standardSpeed
double	standardOmega
Static Private Attributes
Drive	drives [NUMBER_OF_ROBOTS]

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Constructor & Destructor Documentation

Drive::Drive (    )  [protected]

Drive::~Drive (    )  [protected]

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Member Function Documentation

void Drive::backup (    )

Makes robot backup with standard speed until a new drive command is issued See also: standardSpeed

bool Drive::commandCompleted (    )

After issuing a new drive command this method can be called to observe its execution. If the drive command is completed successfully true is returned. If the drive stalls during execution the drive is stopped and false is returned Returns: true if drive command completed successfully

double Drive::distanceTo (  double    x, double    y )

Calculates the distance from the current robot position to the passed point Returns: distance in meter

bool Drive::done (    )

Used to check whether the last driving command has terminated. Attention: if you use any commands that have no termination criterion, e.g. driveWith, driveStraight, backup, ... this method will return false even if the robot is still in motion! Returns: true if no driving command active

void Drive::drive (  double    distance )

Lets the robot drive straight the given distance Parameters: distance  The distance to drive

void Drive::driveCircle (  double    radius, double    angle )

Lets the robot drive in circles Parameters: radius  The radius of the circle to drive along angle  How far the robot is to drive on the circle (e.g. 180 degrees means half a circle)

void Drive::driveCurve (  double    distanceOnCurve, double    deltaPhi )

Drives a curve segment of length distanceOnCurve with overall vehicle turn of deltaPhi. standardSpeed is used as driving speed Parameters: distanceOnCurve  The total distance that will be covered driving the curve deltaPhi  By how much the robot should have turned after completion of the curve (e.g. 180 degrees means half a circle) See also: standardSpeed

void Drive::driveCurveTo (  double    x, double    y )

Drives to the passed position in a curve. If the angle from the current position to the point is 0 it drives straight if the angle to the point is >= 135 then it turns to the point and drives straight Parameters: x  x coordinate of the point to drive to y  y coordinate of the point to drive to

void Drive::driveStraight (    )

Makes robot drive straight with standard speed until a new drive command is issued See also: standardSpeed

bool Drive::driveTo (  double    x, double    y, double    phi )

Drives the robot to the indicated point. The robot turns into the direction of the point and drives to the point in a straight line. Then it turns to the demanded angle. This is a blocking call, it returns only after completion of the driving sequence Parameters: x  x value of the position to drive to y  y value of the position to drive to phi  angle to turn to at the destination point Returns: true if position successfully reached

bool Drive::driveTo (  double    x, double    y )

Drives the robot to the indicated point. The robot turns into the direction of the point and drives to the point in a straight line. This is a blocking call, it returns only after completion of the driving sequence Parameters: x  x value of the position to drive to y  y value of the position to drive to Returns: true if position successfully reached

void Drive::driveWith (  double    speed, double    omega )

Lets the robot drive with the given speed and omega until a new drive or turn command is given. Parameters: speed  The speed to drive with omega  The speed to turn with (degree/second)

Drive * Drive::getDrive (    )  [static]

This method is used to get the instance of this singleton class Returns: A pointer to the instance

void Drive::getPosition (  double &    x, double &    y, double &    phi )

Returns the current position of the robot Parameters: x  The x value of the robot position y  The y value of the robot position phi  The angle (in degree) of the robot position

double Drive::getRotationAngle (  double    baseX, double    baseY, double    pointX, double    pointY, double    phi )

Calculates the angle of an vector (base and point), adjusted by an angle phi. Example: if you pass (0.0, 0.0, 1.0, 1.0, 0.0) the vector has an angle of -45.0 degrees in the robot coordinate system. Example: if your robot's current orientation is + 90 degrees you can pass (0.0, 0.0, 1.0, 1.0, 90.0) and you will get -135 as result. So you know you have to turn by -135 to face -45 Parameters: baseX  x coordinate of the vector's base point baseY  y coordinate of the vector's base point pointX  x coordinate of the point the vector's pointing to pointY  y coordinate of the point the vector's pointing to phi  adjust the vector's angle by phi (i.e. phi is subtracted from the vector's angle) Returns: The angle that the robot has to turn to face the passed point (in degree, between (-180, 180])

double Drive::getRotationAngleTo (  double    pointX, double    pointY )

Calculates the rotation angle from the current robot position (x,y,phi) to a point. Example: if your robot's current orientation is +0 degrees and you pass (1.0, 1.0) you will get -45 as result. So you know you have to turn by -45 to face (1,1) Example: if your robot's current orientation is + 90 degrees and you pass (1.0, 1.0) you will get -135 as result. So you know you have to turn by -135 to face (1,1) Parameters: pointX  x coordinate of the point we want to turn to pointY  y coordinate of the point we want to turn to Returns: The angle that the robot has to turn to face the passed point (in degree, between (-180, 180])

bool Drive::initialize (    )

Initializes the drive for usage. Should automatically be called by the constructor. But as the EyeSim simulator is not able to execute RoBIOS library functions in class constructors, we have declared this method as public and need to call this method manually in main Returns: true if successful

void Drive::local2global (  double    robotX, double    robotY, double    robotPhi, double    localX, double    localY, double &    globalX, double &    globalY )

Converts a vector from local coordinates (i.e. relative to a robot position) to global coordinates (i.e. relative to (0,0)) Parameters: robotX  x position of robot robotY  y position of robot robotPhi  x phi of robot localX  x coordinate of vector relative to passed robot position localY  y coordinate of vector relative to passed robot position globalX  x coordinate of vector relative to (0,0) globalY  y coordinate of vector relative to (0,0)

bool Drive::release (    )  [protected]

Releases the drive after usage. Is automatically called by the destructor Returns: true if successful

void Drive::setPosition (  double    x, double    y, double    phi )

Changes the coordinate system of the robot Parameters: x  The x value of the robot in the new coordinate system y  The y value of the robot in the new coordinate system phi  The angle (in degree) of the robot in the new coordinate system

void Drive::setStandardSpeed (  double    speed, double    omega )

Used to set the standard speed and the standard turning speed that will be used for the driving commands Parameters: speed  The standard speed that is to be used (in meter per second) omega  The standard turning speed that is to be used (in degree per second)

bool Drive::stalled (    )

Checks whether the robot has hit an object and at least one of the wheels is blocking. Because the stalled information is not always correct when using real robots (for example stalled is true when the robot is just starting up) this method uses an internal counter. Only if a certain threshold is exceeded this method will return true. To reset the counter it is advised to always call Drive::stop if the drive was stalled before Returns: true if at least one of the wheels is blocking

void Drive::stop (    )

Stops the robot by setting its speed to (0,0)

void Drive::turn (  double    angle )

Turns robot by the indicated angle (angle>0 means counter-clockwise, angle<0 means clockwise) Parameters: angle  The angle (in degree) to turn

void Drive::turnLeft (    )

Lets the robot turn counter-clockwise with the standard omega until a new drive or turn command is given

void Drive::turnLeft (  double    angle )

Turns robot left by the indicated angle Parameters: angle  The angle (in degree) to turn

void Drive::turnRight (    )

Lets the robot turn clockwise with the standard omega until a new drive or turn command is given

void Drive::turnRight (  double    angle )

Turns robot right by the indicated angle Parameters: angle  The angle (in degree) to turn

void Drive::turnTo (  double    angle )

Turns the robot to the indicated angle Parameters: angle  The angle (in degree) to turn to

void Drive::wait (    )

Blocks the calling thread until the robot has finished the current driving command

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Member Data Documentation

Drive Drive::drives [static, private]

The single instance that exists of this class See also: Drive::getDrive()

double Drive::standardOmega [private]

Stores the standard turning speed that is used for all driving commands (in degree per second)

double Drive::standardSpeed [private]

Stores the standard speed that is used for all driving commands

VWHandle Drive::vwDriveHandle [private]

Used internally to access the robot drive

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