rec::robotino::api2::OmniDrive Class Reference

Calculates motor velocities for the omni drive. More...

#include <OmniDrive.h>

Inheritance diagram for rec::robotino::api2::OmniDrive:

Public Member Functions
	OmniDrive (const ComId &id)
void	setComId (const ComId &id)
void	setVelocity (float vx, float vy, float omega)
void	getDriveLayout (double *rb, double *rw, double *fctrl, double *gear, double *mer)
virtual void	driveLayoutChangedEvent (double rb, double rw, double fctrl, double gear, double mer)
Public Member Functions inherited from rec::robotino::api2::ComObject
	ComObject ()
virtual	~ComObject ()
ComId	comId () const

Friends
class	OmniDriveImpl

Additional Inherited Members
Protected Attributes inherited from rec::robotino::api2::ComObject
ComId	_comID

Detailed Description

Calculates motor velocities for the omni drive.

Directional and rotational coordinates are provided and velocities for the single motors are calculated.

See also

Motor

Member Function Documentation

virtual void rec::robotino::api2::OmniDrive::driveLayoutChangedEvent ( double  rb, double  rw, double  fctrl, double  gear, double  mer  )

virtual

Called when the drive layout changes.

Parameters

rb	Distance from robot center to wheel center in m.
rw	Radius of the wheels in m.
fctrl	Frequency of control loop measuring the speed in Hz.
gear	Gear
mer	Motor encoder resolution.

Remarks

This function is called from the thread in which Com::processEvents() is called.

See also

Com::processEvents

void rec::robotino::api2::OmniDrive::getDriveLayout	(	double *	rb,
		double *	rw,
		double *	fctrl,
		double *	gear,
		double *	mer
	)

Retrieves the layout parameters of the robots drive system from the server.

Parameters

rb	Distance from robot center to wheel center in m.
rw	Radius of the wheels in m.
fctrl	Frequency of control loop measuring the speed in Hz.
gear	Gear
mer	Motor encoder resolution.

Exceptions

nothing.

Remarks

This function is thread save

void rec::robotino::api2::OmniDrive::setComId

(

const ComId &

id

)

Sets the associated communication object.

Parameters

id	The id of the associated communication object.

Exceptions

RobotinoException

if given id is invalid.

Remarks

This function is thread save

void rec::robotino::api2::OmniDrive::setVelocity	(	float	vx,
		float	vy,
		float	omega
	)

Parameters

vx	Velocity in x-direction in m/s
vy	Velocity in y-direction in m/s
omega	Angular velocity in rad/s

Remarks

This function is thread save. It should be called about every 100ms.

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

• C:/srcs/git/openrobotino/api2/lib/rec/robotino/api2/OmniDrive.h