<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN"
"http://www.w3.org/TR/html4/strict.dtd">
<html>
<!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ -->
<HEAD>
<meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8">
<meta name="keywords" content="stage, robot, simulation, player, player/stage">
<link href="doxygen.css" rel="stylesheet" type="text/css">
<style type="text/css">
.floatright { float: right; margin: 0 0 1em 1em; }
body {
font-family: sans-serif;
#font-family: Geneva, Verdana, Helvetica, Arial, sans-serif;
background-color: #FFF;
color:#000;
}
a:link {
color: #A00;
}
a:visited {
color: #800;
}
a { text-decoration: none; }
a:hover { text-decoration: underline; }
.timestamp { text-align:right; background-color: #DDD; font-size:75%;}
h1 {
font-size:160%;
}
h2 {
font-size:110%;
#color: #FFF;
#background-color: #666;
#padding:3px;
}
h3 { text-align:left; }
img {
border: 0;
}
ul.menu {
position:relative;
left:-2.5em;
margin-bottom:0px;
margin-top:0px;
}
ul.menu1 {
position:relative;
left:-2.1em;
margin-bottom:0px;
margin-top:0px;
}
li.menu {
list-style-type: none;
position:relative;
#left:-0.5em;
}
#sidebar { position: absolute; left:0px; padding:2em; top:0em; width:12em;}
#content { position: absolute; left:12em; top:0em; padding-left:3em; padding-right:3em; padding-bottom:2em; margin-top:1em; margin-right:2em; }
div.box { background-color:#EEE; border: 1px solid #000; padding: 0.5ex 0.4em 0.5ex 0.6em; margin:1em; }
div.title { font-weight:bold; background-color:#eee; margin-bottom:2px;}
div.topbar { position: absolute; top:0px; left:9em; margin:1em; }
</style>
<TITLE>Player Manual</TITLE>
</HEAD>
<body>
<div id="sidebar">
<h2 style="text-align:center;">
<a href="index.html">
<img width=140 src="http://playerstage.sourceforge.net/images/player_button_v3.png" alt="Player logo"><br></a>
</h2>
<div class="box">
<div class=title>Player</div>
<ul class=menu>
<li class=menu><a href="index.html">Frontpage</a>
<li class=menu><a href="modules.html">Contents</a>
</ul>
</div>
<div class="box">
<div class=title>User</div>
<ul class=menu>
<li class=menu><a href="install.html">Installation</a>
<li class=menu><a href="start.html">Quick start</a>
<li class=menu><a href="supported_hardware.html">Supported devices</a>
<li class=menu><a href="group__tutorials.html">Tutorials</a>
<li class=menu><a href="group__utils.html">Utilities</a>
<li class=menu><a href="group__clientlibs.html">Client libraries</a>
<li class=menu><a href="http://playerstage.sourceforge.net/wiki/Basic_FAQ">FAQ</a>
<li class=menu><a href="help.html">Help</a>
</ul>
</div>
<div class=box>
<div class="title">Developer</div>
<ul class=menu>
<li class=menu><a href="architecture.html">Architecture</a>
<li class=menu><a href="group__libplayercore.html">libplayercore</a>
<ul class=menu1>
<li class=menu><a href="group__interfaces.html">interfaces</a></li>
</ul>
<li class=menu><a href="group__libplayerdrivers.html">libplayerdrivers</a>
<ul class=menu1>
<li class=menu><a href="group__drivers.html">drivers</a></li>
</ul>
<li class=menu><a href="group__libplayercommon.html">libplayercommon</a>
<li class=menu><a href="group__libplayerutils.html">libplayerutils</a>
<li class=menu><a href="group__libplayersd.html">libplayersd</a>
<li class=menu><a href="group__libplayertcp.html">libplayertcp</a>
<li class=menu><a href="group__libplayerxdr.html">libplayerxdr</a>
<li class=menu><a href="todo.html">TODO</a>
</ul>
</div>
<div class=box>
<!-- <a href="http://sourceforge.net"><img border=0 src="http://sourceforge.net/sflogo.php?group_id=42445&type=1"></a> -->
<div class="title">Online</div>
<a href="http://playerstage.sourceforge.net">Homepage</a><br>
<a href="http://sourceforge.net/project/showfiles.php?group_id=42445">Download</a><br>
<a href="http://sourceforge.net/projects/playerstage">Project</a><br>
<a href="http://sourceforge.net/tracker/?group_id=42445">Bugs</a><br>
<a href="http://sourceforge.net/mail/?group_id=42445">Help</a>
</div>
</div>
<div id="content" >
<!-- Generated by Doxygen 1.7.1 -->
<div class="header">
<div class="summary">
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pri-methods">Private Member Functions</a> |
<a href="#pri-static-methods">Static Private Member Functions</a> |
<a href="#pri-attribs">Private Attributes</a> </div>
<div class="headertitle">
<h1>Erratic Class Reference</h1> </div>
</div>
<div class="contents">
<!-- doxytag: class="Erratic" --><!-- doxytag: inherits="Driver" --><div class="dynheader">
Inheritance diagram for Erratic:</div>
<div class="dyncontent">
<div class="center">
<img src="classErratic.png" usemap="#Erratic_map" alt=""/>
<map id="Erratic_map" name="Erratic_map">
<area href="classDriver.html" alt="Driver" shape="rect" coords="0,0,50,24"/>
</map>
</div>
<p><a href="classErratic-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aeeda9ac8d518f6d657ce09a228baa391"></a><!-- doxytag: member="Erratic::Erratic" ref="aeeda9ac8d518f6d657ce09a228baa391" args="(ConfigFile *cf, int section)" -->
</td><td class="memItemRight" valign="bottom"><b>Erratic</b> (<a class="el" href="classConfigFile.html">ConfigFile</a> *cf, int section)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classErratic.html#aa299b2b9882799be7d1d3eafa8deea20">Subscribe</a> (<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> id)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Subscribe to this driver. <a href="#aa299b2b9882799be7d1d3eafa8deea20"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classErratic.html#a6b9ad903cdbc6a8576191159e5d8432f">Unsubscribe</a> (<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> id)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Unsubscribe from this driver. <a href="#a6b9ad903cdbc6a8576191159e5d8432f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8f08878ef62c526cd633469a1019f5f5"></a><!-- doxytag: member="Erratic::Main" ref="a8f08878ef62c526cd633469a1019f5f5" args="()" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classErratic.html#a8f08878ef62c526cd633469a1019f5f5">Main</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Talking to the Player architecture. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classErratic.html#ac059b19b88420b27819e7b7ad7c6a590">Setup</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize the driver. <a href="#ac059b19b88420b27819e7b7ad7c6a590"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classErratic.html#a4360024f074e706497fc0fb6aa570100">Shutdown</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Finalize the driver. <a href="#a4360024f074e706497fc0fb6aa570100"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classErratic.html#aa5efa738ad74d1bd6e6e053459f395a9">ProcessMessage</a> (<a class="el" href="classQueuePointer.html">QueuePointer</a> &resp_queue, <a class="el" href="structplayer__msghdr.html">player_msghdr</a> *hdr, void *data)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classMessage.html" title="Reference-counted message objects.">Message</a> handler. <a href="#aa5efa738ad74d1bd6e6e053459f395a9"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-methods"></a>
Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7d532b954e105800a5d3df6f900d26cb"></a><!-- doxytag: member="Erratic::Connect" ref="a7d532b954e105800a5d3df6f900d26cb" args="()" -->
int </td><td class="memItemRight" valign="bottom"><b>Connect</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a31b8f3436cb58706708e1f66cdc72b1d"></a><!-- doxytag: member="Erratic::Disconnect" ref="a31b8f3436cb58706708e1f66cdc72b1d" args="()" -->
int </td><td class="memItemRight" valign="bottom"><b>Disconnect</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3ca507e6cfc2631b3950a2096cc99b8d"></a><!-- doxytag: member="Erratic::ResetRawPositions" ref="a3ca507e6cfc2631b3950a2096cc99b8d" args="()" -->
void </td><td class="memItemRight" valign="bottom"><b>ResetRawPositions</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aef3d92c69e5ef0fd511904b02aad039c"></a><!-- doxytag: member="Erratic::ToggleMotorPower" ref="aef3d92c69e5ef0fd511904b02aad039c" args="(unsigned char val)" -->
void </td><td class="memItemRight" valign="bottom"><b>ToggleMotorPower</b> (unsigned char val)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa8f28f90a928d4ed29153bc0bbe8dd6a"></a><!-- doxytag: member="Erratic::ToggleAIn" ref="aa8f28f90a928d4ed29153bc0bbe8dd6a" args="(unsigned char val)" -->
void </td><td class="memItemRight" valign="bottom"><b>ToggleAIn</b> (unsigned char val)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a48652066d5136056055240e923a6418a"></a><!-- doxytag: member="Erratic::ToggleSonar" ref="a48652066d5136056055240e923a6418a" args="(unsigned char val)" -->
void </td><td class="memItemRight" valign="bottom"><b>ToggleSonar</b> (unsigned char val)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5c716e8b34fba45c40671e31f66a9fbe"></a><!-- doxytag: member="Erratic::HandleConfig" ref="a5c716e8b34fba45c40671e31f66a9fbe" args="(QueuePointer &resp_queue, player_msghdr *hdr, void *data)" -->
int </td><td class="memItemRight" valign="bottom"><b>HandleConfig</b> (<a class="el" href="classQueuePointer.html">QueuePointer</a> &resp_queue, <a class="el" href="structplayer__msghdr.html">player_msghdr</a> *hdr, void *data)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac9ab78a7734701eda4c52166c38ca6c7"></a><!-- doxytag: member="Erratic::HandleCommand" ref="ac9ab78a7734701eda4c52166c38ca6c7" args="(player_msghdr *hdr, void *data)" -->
int </td><td class="memItemRight" valign="bottom"><b>HandleCommand</b> (<a class="el" href="structplayer__msghdr.html">player_msghdr</a> *hdr, void *data)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="affa9b5588ef41d6981f13d9e2de58c2d"></a><!-- doxytag: member="Erratic::HandlePositionCommand" ref="affa9b5588ef41d6981f13d9e2de58c2d" args="(player_position2d_cmd_vel_t position_cmd)" -->
void </td><td class="memItemRight" valign="bottom"><b>HandlePositionCommand</b> (<a class="el" href="structplayer__position2d__cmd__vel.html">player_position2d_cmd_vel_t</a> position_cmd)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3a8d1c9d2d5a731be9c4b5cd05027ff6"></a><!-- doxytag: member="Erratic::HandleCarCommand" ref="a3a8d1c9d2d5a731be9c4b5cd05027ff6" args="(player_position2d_cmd_car_t position_cmd)" -->
void </td><td class="memItemRight" valign="bottom"><b>HandleCarCommand</b> (<a class="el" href="structplayer__position2d__cmd__car.html">player_position2d_cmd_car_t</a> position_cmd)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7e447377dab7bb9c8f823318401f1e2e"></a><!-- doxytag: member="Erratic::HandlePtzCommand" ref="a7e447377dab7bb9c8f823318401f1e2e" args="(player_ptz_cmd_t ptz_cmd, player_devaddr_t id)" -->
void </td><td class="memItemRight" valign="bottom"><b>HandlePtzCommand</b> (<a class="el" href="structplayer__ptz__cmd.html">player_ptz_cmd_t</a> ptz_cmd, <a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> id)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afb0d5432472bd9e3a9e8b2ec1811dbbf"></a><!-- doxytag: member="Erratic::PublishAllData" ref="afb0d5432472bd9e3a9e8b2ec1811dbbf" args="()" -->
void </td><td class="memItemRight" valign="bottom"><b>PublishAllData</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0539654eebcdb9310b7fdc129a5c325e"></a><!-- doxytag: member="Erratic::PublishPosition2D" ref="a0539654eebcdb9310b7fdc129a5c325e" args="()" -->
void </td><td class="memItemRight" valign="bottom"><b>PublishPosition2D</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a722e1fcb7e9d4cef9efd2f9f4900c112"></a><!-- doxytag: member="Erratic::PublishPower" ref="a722e1fcb7e9d4cef9efd2f9f4900c112" args="()" -->
void </td><td class="memItemRight" valign="bottom"><b>PublishPower</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afe15048dbc9b85f4ecf3b07a44247188"></a><!-- doxytag: member="Erratic::PublishAIn" ref="afe15048dbc9b85f4ecf3b07a44247188" args="()" -->
void </td><td class="memItemRight" valign="bottom"><b>PublishAIn</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a83a076383746a177b8d7b8a3b9387deb"></a><!-- doxytag: member="Erratic::PublishIR" ref="a83a076383746a177b8d7b8a3b9387deb" args="()" -->
void </td><td class="memItemRight" valign="bottom"><b>PublishIR</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a66381a7b33b28a7ee59208916908fbbd"></a><!-- doxytag: member="Erratic::PublishSonar" ref="a66381a7b33b28a7ee59208916908fbbd" args="()" -->
void </td><td class="memItemRight" valign="bottom"><b>PublishSonar</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a66d985f295bc1071b64144eb89a1c39e"></a><!-- doxytag: member="Erratic::IRRangeFromVoltage" ref="a66d985f295bc1071b64144eb89a1c39e" args="(float voltage)" -->
float </td><td class="memItemRight" valign="bottom"><b>IRRangeFromVoltage</b> (float voltage)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2a811f68a64f58b58e58e362710a6186"></a><!-- doxytag: member="Erratic::IRFloorRange" ref="a2a811f68a64f58b58e58e362710a6186" args="(float value)" -->
float </td><td class="memItemRight" valign="bottom"><b>IRFloorRange</b> (float value)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8a1aa0f03b5050e83cd017a1c553c4a3"></a><!-- doxytag: member="Erratic::StartThreads" ref="a8a1aa0f03b5050e83cd017a1c553c4a3" args="()" -->
void </td><td class="memItemRight" valign="bottom"><b>StartThreads</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a760551b7e2e115576c38fadf4931cb48"></a><!-- doxytag: member="Erratic::StopThreads" ref="a760551b7e2e115576c38fadf4931cb48" args="()" -->
void </td><td class="memItemRight" valign="bottom"><b>StopThreads</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a286ec79402199a3fe77162cd1a4cb6d1"></a><!-- doxytag: member="Erratic::Send" ref="a286ec79402199a3fe77162cd1a4cb6d1" args="(ErraticPacket *packet)" -->
void </td><td class="memItemRight" valign="bottom"><b>Send</b> (<a class="el" href="classErraticPacket.html">ErraticPacket</a> *packet)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a65d9d186b7f72137577203c41416220f"></a><!-- doxytag: member="Erratic::SendThread" ref="a65d9d186b7f72137577203c41416220f" args="()" -->
void </td><td class="memItemRight" valign="bottom"><b>SendThread</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a500b886eb90f16557f2f7fdf0c595ec3"></a><!-- doxytag: member="Erratic::ReceiveThread" ref="a500b886eb90f16557f2f7fdf0c595ec3" args="()" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classErratic.html#a500b886eb90f16557f2f7fdf0c595ec3">ReceiveThread</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Talking to the robot. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-static-methods"></a>
Static Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae985d2610c8023fffa059e8f9a193114"></a><!-- doxytag: member="Erratic::SendThreadDummy" ref="ae985d2610c8023fffa059e8f9a193114" args="(void *driver)" -->
static void * </td><td class="memItemRight" valign="bottom"><b>SendThreadDummy</b> (void *driver)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5abe812811d689901b8ad75cd1d0082a"></a><!-- doxytag: member="Erratic::ReceiveThreadDummy" ref="a5abe812811d689901b8ad75cd1d0082a" args="(void *driver)" -->
static void * </td><td class="memItemRight" valign="bottom"><b>ReceiveThreadDummy</b> (void *driver)</td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4bf5983966760bf77a9330acbc0d2497"></a><!-- doxytag: member="Erratic::mcount" ref="a4bf5983966760bf77a9330acbc0d2497" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>mcount</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad90b8c6c2307bbc97965265a2a5a4664"></a><!-- doxytag: member="Erratic::erratic_data" ref="ad90b8c6c2307bbc97965265a2a5a4664" args="" -->
player_erratic_data_t </td><td class="memItemRight" valign="bottom"><b>erratic_data</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a157fa9a8b23577ec7182a935e7b4beec"></a><!-- doxytag: member="Erratic::position_id" ref="a157fa9a8b23577ec7182a935e7b4beec" args="" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td><td class="memItemRight" valign="bottom"><b>position_id</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac4b3f70408286c4a97696df4b60f8aaf"></a><!-- doxytag: member="Erratic::power_id" ref="ac4b3f70408286c4a97696df4b60f8aaf" args="" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td><td class="memItemRight" valign="bottom"><b>power_id</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab8db2a02223fec581616eac1b5d43454"></a><!-- doxytag: member="Erratic::aio_id" ref="ab8db2a02223fec581616eac1b5d43454" args="" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td><td class="memItemRight" valign="bottom"><b>aio_id</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5280f7c4a24618bb9a6a4cf0197698ec"></a><!-- doxytag: member="Erratic::ir_id" ref="a5280f7c4a24618bb9a6a4cf0197698ec" args="" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td><td class="memItemRight" valign="bottom"><b>ir_id</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abdaf33beed586da9a87f96b4639803de"></a><!-- doxytag: member="Erratic::sonar_id" ref="abdaf33beed586da9a87f96b4639803de" args="" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td><td class="memItemRight" valign="bottom"><b>sonar_id</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a16710a2e5a6e36ad07cfce2022a25a09"></a><!-- doxytag: member="Erratic::ptz_id" ref="a16710a2e5a6e36ad07cfce2022a25a09" args="" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td><td class="memItemRight" valign="bottom"><b>ptz_id</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad9099f440864a5fc8e0e04b0a9748a7e"></a><!-- doxytag: member="Erratic::ptz2_id" ref="ad9099f440864a5fc8e0e04b0a9748a7e" args="" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td><td class="memItemRight" valign="bottom"><b>ptz2_id</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6090ed72d67b996ac6f64bd12d06e371"></a><!-- doxytag: member="Erratic::position_subscriptions" ref="a6090ed72d67b996ac6f64bd12d06e371" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>position_subscriptions</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a219630dc37ebf1ba0edad58b9087d9cb"></a><!-- doxytag: member="Erratic::aio_ir_subscriptions" ref="a219630dc37ebf1ba0edad58b9087d9cb" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>aio_ir_subscriptions</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a083f649026e84abec9a0498de8f2bc9f"></a><!-- doxytag: member="Erratic::sonar_subscriptions" ref="a083f649026e84abec9a0498de8f2bc9f" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>sonar_subscriptions</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3bcf2bb837506a0b88778b8a8e600acc"></a><!-- doxytag: member="Erratic::ptz_subscriptions" ref="a3bcf2bb837506a0b88778b8a8e600acc" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>ptz_subscriptions</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a561f6341be424a7c3ff8da82ae6a3b47"></a><!-- doxytag: member="Erratic::ptz2_subscriptions" ref="a561f6341be424a7c3ff8da82ae6a3b47" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>ptz2_subscriptions</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a099f470fdf929d5b9224bacc0acec822"></a><!-- doxytag: member="Erratic::motor_packet" ref="a099f470fdf929d5b9224bacc0acec822" args="" -->
<a class="el" href="classErraticMotorPacket.html">ErraticMotorPacket</a> * </td><td class="memItemRight" valign="bottom"><b>motor_packet</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af8a2f75440c56940e94632c3fe365eb7"></a><!-- doxytag: member="Erratic::motor_packet_mutex" ref="af8a2f75440c56940e94632c3fe365eb7" args="" -->
pthread_mutex_t </td><td class="memItemRight" valign="bottom"><b>motor_packet_mutex</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af61a5860888c3814d30ca6586ad5d98e"></a><!-- doxytag: member="Erratic::read_fd" ref="af61a5860888c3814d30ca6586ad5d98e" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>read_fd</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a003cec8d5f1dc9aaa48da13536c82257"></a><!-- doxytag: member="Erratic::write_fd" ref="a003cec8d5f1dc9aaa48da13536c82257" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>write_fd</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4a70097a264ab19163110d938d1a49f2"></a><!-- doxytag: member="Erratic::psos_serial_port" ref="a4a70097a264ab19163110d938d1a49f2" args="" -->
const char * </td><td class="memItemRight" valign="bottom"><b>psos_serial_port</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a32f6618fc99633935aa5da41b4e6209e"></a><!-- doxytag: member="Erratic::last_position_cmd" ref="a32f6618fc99633935aa5da41b4e6209e" args="" -->
<a class="el" href="structplayer__position2d__cmd__vel.html">player_position2d_cmd_vel_t</a> </td><td class="memItemRight" valign="bottom"><b>last_position_cmd</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afa9f921b97378d3d590ececa26c89b76"></a><!-- doxytag: member="Erratic::last_car_cmd" ref="afa9f921b97378d3d590ececa26c89b76" args="" -->
<a class="el" href="structplayer__position2d__cmd__car.html">player_position2d_cmd_car_t</a> </td><td class="memItemRight" valign="bottom"><b>last_car_cmd</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a15642a13255c84fc868de8b301d2351a"></a><!-- doxytag: member="Erratic::send_queue" ref="a15642a13255c84fc868de8b301d2351a" args="" -->
std::queue< <a class="el" href="classErraticPacket.html">ErraticPacket</a> * > </td><td class="memItemRight" valign="bottom"><b>send_queue</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae29f8fc7dded690f6af86c93900d0ac4"></a><!-- doxytag: member="Erratic::send_queue_mutex" ref="ae29f8fc7dded690f6af86c93900d0ac4" args="" -->
pthread_mutex_t </td><td class="memItemRight" valign="bottom"><b>send_queue_mutex</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa17fdfc2809a71d0e75bef151d55200a"></a><!-- doxytag: member="Erratic::send_queue_cond" ref="aa17fdfc2809a71d0e75bef151d55200a" args="" -->
pthread_cond_t </td><td class="memItemRight" valign="bottom"><b>send_queue_cond</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a50ee896384050e9ef59bef52c75b2e8f"></a><!-- doxytag: member="Erratic::send_thread" ref="a50ee896384050e9ef59bef52c75b2e8f" args="" -->
pthread_t </td><td class="memItemRight" valign="bottom"><b>send_thread</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aac37af424a559926447c1257099be390"></a><!-- doxytag: member="Erratic::receive_thread" ref="aac37af424a559926447c1257099be390" args="" -->
pthread_t </td><td class="memItemRight" valign="bottom"><b>receive_thread</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af30a53311d0c27e9005dd909e19bf7b0"></a><!-- doxytag: member="Erratic::direct_wheel_vel_control" ref="af30a53311d0c27e9005dd909e19bf7b0" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>direct_wheel_vel_control</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a166a271e3b89299c7da113d0ff197f39"></a><!-- doxytag: member="Erratic::print_all_packets" ref="a166a271e3b89299c7da113d0ff197f39" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>print_all_packets</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5cd1fdf07bcaa00a15ca2e750b873c8a"></a><!-- doxytag: member="Erratic::print_status_summary" ref="a5cd1fdf07bcaa00a15ca2e750b873c8a" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>print_status_summary</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3306d37c7982f3632808190f1c77a059"></a><!-- doxytag: member="Erratic::save_settings_in_robot" ref="a3306d37c7982f3632808190f1c77a059" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>save_settings_in_robot</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5ffeff5bc85c3c7fe620bd0c00b3eee2"></a><!-- doxytag: member="Erratic::param_idx" ref="a5ffeff5bc85c3c7fe620bd0c00b3eee2" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>param_idx</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae0db9d97e07910ace278c989c1e31e22"></a><!-- doxytag: member="Erratic::motor_max_speed" ref="ae0db9d97e07910ace278c989c1e31e22" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>motor_max_speed</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a215d241c40dc7d7c41ce86762c64aadc"></a><!-- doxytag: member="Erratic::motor_max_turnspeed" ref="a215d241c40dc7d7c41ce86762c64aadc" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>motor_max_turnspeed</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ada73a883e60195a75b2ab6302ab0775f"></a><!-- doxytag: member="Erratic::pid_trans_p" ref="ada73a883e60195a75b2ab6302ab0775f" args="" -->
int16_t </td><td class="memItemRight" valign="bottom"><b>pid_trans_p</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae87d984e13d21d059e648cb2d114dd6d"></a><!-- doxytag: member="Erratic::pid_trans_v" ref="ae87d984e13d21d059e648cb2d114dd6d" args="" -->
int16_t </td><td class="memItemRight" valign="bottom"><b>pid_trans_v</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9fd8b856c348c51740e8d867b2ce7318"></a><!-- doxytag: member="Erratic::pid_trans_i" ref="a9fd8b856c348c51740e8d867b2ce7318" args="" -->
int16_t </td><td class="memItemRight" valign="bottom"><b>pid_trans_i</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2f1204a88626bc2acaade7ff89561288"></a><!-- doxytag: member="Erratic::pid_rot_p" ref="a2f1204a88626bc2acaade7ff89561288" args="" -->
int16_t </td><td class="memItemRight" valign="bottom"><b>pid_rot_p</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7bf0e34ab04e37ca3db2d4b3d19bdb6a"></a><!-- doxytag: member="Erratic::pid_rot_v" ref="a7bf0e34ab04e37ca3db2d4b3d19bdb6a" args="" -->
int16_t </td><td class="memItemRight" valign="bottom"><b>pid_rot_v</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af9d213850295325edd5bf0972ffeb73e"></a><!-- doxytag: member="Erratic::pid_rot_i" ref="af9d213850295325edd5bf0972ffeb73e" args="" -->
int16_t </td><td class="memItemRight" valign="bottom"><b>pid_rot_i</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a05827d1f0cd0fbfbaa70f7e0a3357398"></a><!-- doxytag: member="Erratic::motor_pwm_frequency" ref="a05827d1f0cd0fbfbaa70f7e0a3357398" args="" -->
uint16_t </td><td class="memItemRight" valign="bottom"><b>motor_pwm_frequency</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad7b63ebd49e922b4bc9dfc903b182636"></a><!-- doxytag: member="Erratic::motor_pwm_max_on" ref="ad7b63ebd49e922b4bc9dfc903b182636" args="" -->
uint16_t </td><td class="memItemRight" valign="bottom"><b>motor_pwm_max_on</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afb663d35e4d3994627d8eee2064ff89c"></a><!-- doxytag: member="Erratic::use_vel_band" ref="afb663d35e4d3994627d8eee2064ff89c" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>use_vel_band</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0ac4d6bf65fb06df985eff43e18606e3"></a><!-- doxytag: member="Erratic::motor_max_trans_accel" ref="a0ac4d6bf65fb06df985eff43e18606e3" args="" -->
short </td><td class="memItemRight" valign="bottom"><b>motor_max_trans_accel</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa968bb8150f249a1c95a48a65ec6b5e9"></a><!-- doxytag: member="Erratic::motor_max_trans_decel" ref="aa968bb8150f249a1c95a48a65ec6b5e9" args="" -->
short </td><td class="memItemRight" valign="bottom"><b>motor_max_trans_decel</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7fd88825348e2eeac71991561485c6fa"></a><!-- doxytag: member="Erratic::motor_max_rot_accel" ref="a7fd88825348e2eeac71991561485c6fa" args="" -->
short </td><td class="memItemRight" valign="bottom"><b>motor_max_rot_accel</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af3d4f166bce755656855f1e59a9500ec"></a><!-- doxytag: member="Erratic::motor_max_rot_decel" ref="af3d4f166bce755656855f1e59a9500ec" args="" -->
short </td><td class="memItemRight" valign="bottom"><b>motor_max_rot_decel</b></td></tr>
</table>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="aa5efa738ad74d1bd6e6e053459f395a9"></a><!-- doxytag: member="Erratic::ProcessMessage" ref="aa5efa738ad74d1bd6e6e053459f395a9" args="(QueuePointer &resp_queue, player_msghdr *hdr, void *data)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int Erratic::ProcessMessage </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classQueuePointer.html">QueuePointer</a> & </td>
<td class="paramname"> <em>resp_queue</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structplayer__msghdr.html">player_msghdr</a> * </td>
<td class="paramname"> <em>hdr</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">void * </td>
<td class="paramname"> <em>data</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p><a class="el" href="classMessage.html" title="Reference-counted message objects.">Message</a> handler. </p>
<p>This function is called once for each message in the incoming queue. Reimplement it to provide message handling. Return 0 if you handled the message and -1 otherwise</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>resp_queue</em> </td><td>The queue to which any response should go. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>hdr</em> </td><td>The message header </td></tr>
<tr><td valign="top"></td><td valign="top"><em>data</em> </td><td>The message body </td></tr>
</table>
</dd>
</dl>
<p>Reimplemented from <a class="el" href="classDriver.html#ab05d0e8502a494a83d0442a48095a35c">Driver</a>.</p>
<p>References <a class="el" href="group__message__types.html#gaf8fb5087b5a1f4ec631034e71dec0f3d">PLAYER_MSGTYPE_CMD</a>, <a class="el" href="group__message__types.html#ga59ed953188471436df98bfc3adf0f457">PLAYER_MSGTYPE_REQ</a>, and <a class="el" href="structplayer__msghdr.html#a1c20e2f82ad8f6164f7cf31d940255fb">player_msghdr::type</a>.</p>
</div>
</div>
<a class="anchor" id="ac059b19b88420b27819e7b7ad7c6a590"></a><!-- doxytag: member="Erratic::Setup" ref="ac059b19b88420b27819e7b7ad7c6a590" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int Erratic::Setup </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td>
<td> ) </td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Initialize the driver. </p>
<p>This function is called with the first client subscribes; it MUST be implemented by the driver.</p>
<dl class="return"><dt><b>Returns:</b></dt><dd>Returns 0 on success. </dd></dl>
<p>Reimplemented from <a class="el" href="classDriver.html#a5873d50541d254ec1eb6f472ded097b0">Driver</a>.</p>
</div>
</div>
<a class="anchor" id="a4360024f074e706497fc0fb6aa570100"></a><!-- doxytag: member="Erratic::Shutdown" ref="a4360024f074e706497fc0fb6aa570100" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int Erratic::Shutdown </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td>
<td> ) </td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Finalize the driver. </p>
<p>This function is called with the last client unsubscribes.</p>
<dl class="return"><dt><b>Returns:</b></dt><dd>Returns 0 on success. </dd></dl>
<p>Reimplemented from <a class="el" href="classDriver.html#ac5c2d2b54949846f4f4f9c3047371b24">Driver</a>.</p>
</div>
</div>
<a class="anchor" id="aa299b2b9882799be7d1d3eafa8deea20"></a><!-- doxytag: member="Erratic::Subscribe" ref="aa299b2b9882799be7d1d3eafa8deea20" args="(player_devaddr_t id)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int Erratic::Subscribe </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td>
<td class="paramname"> <em>addr</em></td>
<td> ) </td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Subscribe to this driver. </p>
<p>The <a class="el" href="classErratic.html#aa299b2b9882799be7d1d3eafa8deea20" title="Subscribe to this driver.">Subscribe()</a> and <a class="el" href="classErratic.html#a6b9ad903cdbc6a8576191159e5d8432f" title="Unsubscribe from this driver.">Unsubscribe()</a> methods are used to control subscriptions to the driver; a driver MAY override them, but usually won't.</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>addr</em> </td><td>Address of the device to subscribe to (the driver may have more than one interface). </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>Returns 0 on success. </dd></dl>
<p>Reimplemented from <a class="el" href="classDriver.html#ad56aad9b98662be96c000f4e3baf0ee3">Driver</a>.</p>
<p>References <a class="el" href="classDevice.html#a23253859a221d3e66fbd67e8f440132f">Device::MatchDeviceAddress()</a>, and <a class="el" href="classDriver.html#ad56aad9b98662be96c000f4e3baf0ee3">Driver::Subscribe()</a>.</p>
</div>
</div>
<a class="anchor" id="a6b9ad903cdbc6a8576191159e5d8432f"></a><!-- doxytag: member="Erratic::Unsubscribe" ref="a6b9ad903cdbc6a8576191159e5d8432f" args="(player_devaddr_t id)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int Erratic::Unsubscribe </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td>
<td class="paramname"> <em>addr</em></td>
<td> ) </td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Unsubscribe from this driver. </p>
<p>The <a class="el" href="classErratic.html#aa299b2b9882799be7d1d3eafa8deea20" title="Subscribe to this driver.">Subscribe()</a> and <a class="el" href="classErratic.html#a6b9ad903cdbc6a8576191159e5d8432f" title="Unsubscribe from this driver.">Unsubscribe()</a> methods are used to control subscriptions to the driver; a driver MAY override them, but usually won't.</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>addr</em> </td><td>Address of the device to unsubscribe from (the driver may have more than one interface). </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>Returns 0 on success. </dd></dl>
<p>Reimplemented from <a class="el" href="classDriver.html#a0f9daeb9fbb8fd0097e3e388fef686be">Driver</a>.</p>
<p>References <a class="el" href="classDevice.html#a23253859a221d3e66fbd67e8f440132f">Device::MatchDeviceAddress()</a>, and <a class="el" href="classDriver.html#a0f9daeb9fbb8fd0097e3e388fef686be">Driver::Unsubscribe()</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="erratic_8h_source.html">erratic.h</a></li>
<li>erratic.cc</li>
</ul>
</div>
<!-- render the modification time of the source file -->
<div class="timestamp">
<hr>
<table style="width:100%;">
<tr>
<td style="text-align:left;">
Last updated 12 September 2005 21:38:45
<!--
<td style="text-align:right;">
<a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px"
src="http://www.w3.org/Icons/valid-html401"
alt="Valid HTML 4.01!"></a>
<a href="http://jigsaw.w3.org/css-validator/">
<img style="vertical-align:middle;border:0;width:88px;height:31px"
src="http://jigsaw.w3.org/css-validator/images/vcss"
alt="Valid CSS!">
</a>
-->
</tr>
</table>
</div>
</tr>
</table>
</BODY>
</HTML>
distrib
>
Fedora
>
14
>
x86_64
>
media
>
updates
>
by-pkgid
>
727fa15453fcace956b835e2377d4269
>
files
>
122
