USmrOdoState Class Reference

#include <usmrcl.h>

Inheritance diagram for USmrOdoState:

Public Member Functions
void	logState (FILE *logf)
void	print (const char *prestring)
	USmrOdoState ()
Public Member Functions inherited from ULock
bool	lock ()
void	lockInit ()
void	post ()
bool	tryLock ()
bool	tryWait ()
	ULock ()
void	unlock ()
bool	wait ()
	~ULock ()

Public Attributes
double	dh
double	dist
double	dt
UPoseTime	pose
unsigned int	readFlags
double	velocity

Detailed Description

Class to hold current odometry state from the robot The class is protected by a lock, that should be used before read and write of consistent data

Constructor & Destructor Documentation

USmrOdoState::USmrOdoState

(

)

Constructor

References dh, dist, dt, readFlags, and velocity.

Member Function Documentation

void USmrOdoState::logState

(

FILE *

logf

)

Log state to logfile

References dh, dist, dt, UTime::GetMilisec(), UTime::getSec(), UPose::h, pose, readFlags, UPoseTime::t, velocity, UPose::x, and UPose::y.

void USmrOdoState::print

(

const char *

prestring

)

Print pose status to console (no locking)

References dist, dt, UPose::h, pose, velocity, UPose::x, and UPose::y.

Referenced by USmrCl::setVerbose().

Member Data Documentation

double USmrOdoState::dh

Turn since last update

Referenced by logState(), and USmrOdoState().

double USmrOdoState::dist

Total traveled distance (in m)

Referenced by logState(), print(), and USmrOdoState().

double USmrOdoState::dt

Time since last update

Referenced by logState(), print(), and USmrOdoState().

UPoseTime USmrOdoState::pose

Pose and last update time

Referenced by UResSmrIf::eventPoseUpdated(), logState(), and print().

unsigned int USmrOdoState::readFlags

Flags for wich data is read from rs485 bus

Referenced by logState(), and USmrOdoState().

double USmrOdoState::velocity

Current velocity

Referenced by UResSmrIf::eventPoseUpdated(), logState(), print(), and USmrOdoState().

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

• usmrcl.h
• usmrcl.cpp