Fawkes API
Fawkes Development Version
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Internal data storage, do NOT modify! More...
Public Attributes | |
int64_t | timestamp_sec |
Interface Unix timestamp, seconds. | |
int64_t | timestamp_usec |
Interface Unix timestamp, micro-seconds. | |
uint32_t | motor_state |
The current state of the motor. | |
uint32_t | drive_mode |
The current drive mode of the motor. | |
int32_t | right_rpm |
RPM of the motor on the right front of the robot. | |
int32_t | rear_rpm |
RPM of motor on the rear of the robot. | |
int32_t | left_rpm |
RPM of the motor on the left front of the robot. | |
float | odometry_path_length |
The actual length of the robot's trajectory since the last ResetOdometry. | |
float | odometry_position_x |
The actual position of the robot relative to the position at the last ResetOdometry. | |
float | odometry_position_y |
The actual position of the robot relative to the position at the last ResetOdometry. | |
float | odometry_orientation |
The actual orientation of the robot relative to the orientation at the last ResetOdometry. | |
float | vx |
VX of the robot in m/s. | |
float | vy |
VY of the robot in m/s. | |
float | omega |
Rotation speed of the robot in rad/s. | |
uint32_t | controller |
The ID of the controller. | |
char | controller_thread_name [64] |
The name of the controlling thread, for easier debugging. |
Internal data storage, do NOT modify!
The ID of the controller.
The controller ID is the instance serial of the sending interface. Only from this interface instance command messages are accepted.
Definition at line 91 of file MotorInterface.h.
Referenced by fawkes::MotorInterface::AcquireControlMessage::controller(), and fawkes::MotorInterface::AcquireControlMessage::set_controller().
The name of the controlling thread, for easier debugging.
This is informative only and actually two threads may share an interface instance (although this should be avoided since the interface locking has to be reproduced for these threads then).
Definition at line 95 of file MotorInterface.h.
Referenced by fawkes::MotorInterface::AcquireControlMessage::controller_thread_name(), and fawkes::MotorInterface::AcquireControlMessage::set_controller_thread_name().
The current drive mode of the motor.
Definition at line 58 of file MotorInterface.h.
RPM of the motor on the left front of the robot.
Definition at line 67 of file MotorInterface.h.
The current state of the motor.
Definition at line 55 of file MotorInterface.h.
Referenced by fawkes::MotorInterface::SetMotorStateMessage::motor_state(), and fawkes::MotorInterface::SetMotorStateMessage::set_motor_state().
The actual orientation of the robot relative to the orientation at the last ResetOdometry.
Definition at line 79 of file MotorInterface.h.
The actual length of the robot's trajectory since the last ResetOdometry.
Definition at line 70 of file MotorInterface.h.
The actual position of the robot relative to the position at the last ResetOdometry.
Definition at line 73 of file MotorInterface.h.
The actual position of the robot relative to the position at the last ResetOdometry.
Definition at line 76 of file MotorInterface.h.
Rotation speed of the robot in rad/s.
Definition at line 88 of file MotorInterface.h.
Referenced by fawkes::MotorInterface::RotMessage::omega(), fawkes::MotorInterface::RotMessage::set_omega(), fawkes::MotorInterface::TransRotMessage::omega(), fawkes::MotorInterface::TransRotMessage::set_omega(), fawkes::MotorInterface::OrbitMessage::omega(), fawkes::MotorInterface::OrbitMessage::set_omega(), fawkes::MotorInterface::LinTransRotMessage::omega(), and fawkes::MotorInterface::LinTransRotMessage::set_omega().
RPM of motor on the rear of the robot.
Definition at line 64 of file MotorInterface.h.
RPM of the motor on the right front of the robot.
Definition at line 61 of file MotorInterface.h.
Interface Unix timestamp, seconds.
Definition at line 53 of file MotorInterface.h.
Interface Unix timestamp, micro-seconds.
Definition at line 54 of file MotorInterface.h.
VX of the robot in m/s.
Forward.
Definition at line 82 of file MotorInterface.h.
Referenced by fawkes::MotorInterface::TransMessage::vx(), fawkes::MotorInterface::TransMessage::set_vx(), fawkes::MotorInterface::TransRotMessage::vx(), fawkes::MotorInterface::TransRotMessage::set_vx(), fawkes::MotorInterface::LinTransRotMessage::vx(), and fawkes::MotorInterface::LinTransRotMessage::set_vx().
VY of the robot in m/s.
Left.
Definition at line 85 of file MotorInterface.h.
Referenced by fawkes::MotorInterface::TransMessage::vy(), fawkes::MotorInterface::TransMessage::set_vy(), fawkes::MotorInterface::TransRotMessage::vy(), fawkes::MotorInterface::TransRotMessage::set_vy(), fawkes::MotorInterface::LinTransRotMessage::vy(), and fawkes::MotorInterface::LinTransRotMessage::set_vy().