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Sophie

distrib > Fedora > 14 > x86_64 > media > updates > by-pkgid > 727fa15453fcace956b835e2377d4269 > files > 348

player-doc-3.0.2-5.fc14.noarch.rpm

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<!-- Generated by Doxygen 1.7.1 -->
<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a> &#124;
<a href="#pri-methods">Private Member Functions</a> &#124;
<a href="#pri-attribs">Private Attributes</a>  </div>
  <div class="headertitle">
<h1>SegwayRMP Class Reference</h1>  </div>
</div>
<div class="contents">
<!-- doxytag: class="SegwayRMP" --><!-- doxytag: inherits="ThreadedDriver" --><div class="dynheader">
Inheritance diagram for SegwayRMP:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classSegwayRMP.png" usemap="#SegwayRMP_map" alt=""/>
  <map id="SegwayRMP_map" name="SegwayRMP_map">
<area href="classThreadedDriver.html" alt="ThreadedDriver" shape="rect" coords="0,56,102,80"/>
<area href="classDriver.html" alt="Driver" shape="rect" coords="0,0,102,24"/>
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</div>

<p><a href="classSegwayRMP-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="aa4fdb90529707eed34bb0593f7b057f6"></a><!-- doxytag: member="SegwayRMP::SegwayRMP" ref="aa4fdb90529707eed34bb0593f7b057f6" args="(ConfigFile *cf, int section)" -->
&nbsp;</td><td class="memItemRight" valign="bottom"><b>SegwayRMP</b> (<a class="el" href="classConfigFile.html">ConfigFile</a> *cf, int section)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a99e72458a2a8d143d532c848bdb478c0"></a><!-- doxytag: member="SegwayRMP::MainSetup" ref="a99e72458a2a8d143d532c848bdb478c0" args="()" -->
virtual int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP.html#a99e72458a2a8d143d532c848bdb478c0">MainSetup</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Sets up the resources needed by the driver thread. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP.html#aef2368b2aca07a6a3aa8cc7234101ad1">MainQuit</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Cleanup method for driver thread (called when main exits).  <a href="#aef2368b2aca07a6a3aa8cc7234101ad1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP.html#a17e359d0e45f05a98a0891ffab1f2731">ProcessMessage</a> (<a class="el" href="classQueuePointer.html">QueuePointer</a> &amp;resp_queue, <a class="el" href="structplayer__msghdr.html">player_msghdr</a> *hdr, void *data)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight"><a class="el" href="classMessage.html" title="Reference-counted message objects.">Message</a> handler.  <a href="#a17e359d0e45f05a98a0891ffab1f2731"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7e0037672a31a3bb4d1efdfa54bb7871"></a><!-- doxytag: member="SegwayRMP::CanBusSetup" ref="a7e0037672a31a3bb4d1efdfa54bb7871" args="()" -->
int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP.html#a7e0037672a31a3bb4d1efdfa54bb7871">CanBusSetup</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Sets up the CAN bus for communication. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a760e9f3897a439508d50711bc8fdc94a"></a><!-- doxytag: member="SegwayRMP::USBSetup" ref="a760e9f3897a439508d50711bc8fdc94a" args="()" -->
int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP.html#a760e9f3897a439508d50711bc8fdc94a">USBSetup</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Sets up the USB bus for communication. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0ddeb2118cfa2768c1a89cc1bd261506"></a><!-- doxytag: member="SegwayRMP::position_id" ref="a0ddeb2118cfa2768c1a89cc1bd261506" args="" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a>&nbsp;</td><td class="memItemRight" valign="bottom"><b>position_id</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a738cd827aa1b0a8f26fccbbe44793c58"></a><!-- doxytag: member="SegwayRMP::position_data" ref="a738cd827aa1b0a8f26fccbbe44793c58" args="" -->
<a class="el" href="structplayer__position2d__data.html">player_position2d_data_t</a>&nbsp;</td><td class="memItemRight" valign="bottom"><b>position_data</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a77761c5e914b08ccf7300ebb902be63f"></a><!-- doxytag: member="SegwayRMP::position3d_id" ref="a77761c5e914b08ccf7300ebb902be63f" args="" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a>&nbsp;</td><td class="memItemRight" valign="bottom"><b>position3d_id</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aafb69413c2532bd9ba26a31780a9019b"></a><!-- doxytag: member="SegwayRMP::position3d_data" ref="aafb69413c2532bd9ba26a31780a9019b" args="" -->
<a class="el" href="structplayer__position3d__data.html">player_position3d_data_t</a>&nbsp;</td><td class="memItemRight" valign="bottom"><b>position3d_data</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a381f63ff2d78de34dbfdd712fa69a0bc"></a><!-- doxytag: member="SegwayRMP::power_base_id" ref="a381f63ff2d78de34dbfdd712fa69a0bc" args="" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a>&nbsp;</td><td class="memItemRight" valign="bottom"><b>power_base_id</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aaa7d561936a9275a59869e27f855da04"></a><!-- doxytag: member="SegwayRMP::power_base_data" ref="aaa7d561936a9275a59869e27f855da04" args="" -->
<a class="el" href="structplayer__power__data.html">player_power_data_t</a>&nbsp;</td><td class="memItemRight" valign="bottom"><b>power_base_data</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a128370ec72a061556b3731d7ef512c3d"></a><!-- doxytag: member="SegwayRMP::power_ui_id" ref="a128370ec72a061556b3731d7ef512c3d" args="" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a>&nbsp;</td><td class="memItemRight" valign="bottom"><b>power_ui_id</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2af8c39283915484f2c053bd9c0c02ee"></a><!-- doxytag: member="SegwayRMP::power_ui_data" ref="a2af8c39283915484f2c053bd9c0c02ee" args="" -->
<a class="el" href="structplayer__power__data.html">player_power_data_t</a>&nbsp;</td><td class="memItemRight" valign="bottom"><b>power_ui_data</b></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="ab928f3773b598b4159444920de5af2c2"></a><!-- doxytag: member="SegwayRMP::HandlePositionConfig" ref="ab928f3773b598b4159444920de5af2c2" args="(QueuePointer &amp;resp_queue, uint32_t subtype, void *data, size_t len)" -->
int&nbsp;</td><td class="memItemRight" valign="bottom"><b>HandlePositionConfig</b> (<a class="el" href="classQueuePointer.html">QueuePointer</a> &amp;resp_queue, uint32_t subtype, void *data, size_t len)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae72497a3c94b92aedf50e671b77e3b36"></a><!-- doxytag: member="SegwayRMP::HandlePosition3DConfig" ref="ae72497a3c94b92aedf50e671b77e3b36" args="(QueuePointer &amp;resp_queue, uint32_t subtype, void *data, size_t len)" -->
int&nbsp;</td><td class="memItemRight" valign="bottom"><b>HandlePosition3DConfig</b> (<a class="el" href="classQueuePointer.html">QueuePointer</a> &amp;resp_queue, uint32_t subtype, void *data, size_t len)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a41ab22f0aa459f050f631c5998cfac33"></a><!-- doxytag: member="SegwayRMP::Read" ref="a41ab22f0aa459f050f631c5998cfac33" args="()" -->
int&nbsp;</td><td class="memItemRight" valign="bottom"><b>Read</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa862038f547fb892784cd88fa1796d20"></a><!-- doxytag: member="SegwayRMP::CanBusRead" ref="aa862038f547fb892784cd88fa1796d20" args="()" -->
int&nbsp;</td><td class="memItemRight" valign="bottom"><b>CanBusRead</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a085e80dc4693d649447b86e6d321b531"></a><!-- doxytag: member="SegwayRMP::USBRead" ref="a085e80dc4693d649447b86e6d321b531" args="()" -->
int&nbsp;</td><td class="memItemRight" valign="bottom"><b>USBRead</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aaeea2e8ec93d37c5f86d2f77f3c09358"></a><!-- doxytag: member="SegwayRMP::Diff" ref="aaeea2e8ec93d37c5f86d2f77f3c09358" args="(uint32_t from, uint32_t to, bool first)" -->
int&nbsp;</td><td class="memItemRight" valign="bottom"><b>Diff</b> (uint32_t from, uint32_t to, bool first)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa4ea231786adb838d3ecdfcc27643fe0"></a><!-- doxytag: member="SegwayRMP::Write" ref="aa4ea231786adb838d3ecdfcc27643fe0" args="(CanPacket &amp;pkt)" -->
int&nbsp;</td><td class="memItemRight" valign="bottom"><b>Write</b> (<a class="el" href="classCanPacket.html">CanPacket</a> &amp;pkt)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP.html#a533bab32d35b2733f40e9083d0df0531">Main</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Main method for driver thread.  <a href="#a533bab32d35b2733f40e9083d0df0531"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a85626c97421242eab2f5ef12783d58c6"></a><!-- doxytag: member="SegwayRMP::MakeStatusCommand" ref="a85626c97421242eab2f5ef12783d58c6" args="(CanPacket *pkt, uint16_t cmd, uint16_t val)" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><b>MakeStatusCommand</b> (<a class="el" href="classCanPacket.html">CanPacket</a> *pkt, uint16_t cmd, uint16_t val)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac7ab7601ac49fb962c441636564db60b"></a><!-- doxytag: member="SegwayRMP::MakeVelocityCommand" ref="ac7ab7601ac49fb962c441636564db60b" args="(CanPacket *pkt, int32_t xspeed, int32_t yawspeed)" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><b>MakeVelocityCommand</b> (<a class="el" href="classCanPacket.html">CanPacket</a> *pkt, int32_t xspeed, int32_t yawspeed)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aed450249df0a953aeade4a7e4affeea4"></a><!-- doxytag: member="SegwayRMP::MakeShutdownCommand" ref="aed450249df0a953aeade4a7e4affeea4" args="(CanPacket *pkt)" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><b>MakeShutdownCommand</b> (<a class="el" href="classCanPacket.html">CanPacket</a> *pkt)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP.html#a0bc3d7cb89fafebe6563a991567dd53a">UpdateData</a> (<a class="el" href="classrmp__frame__t.html">rmp_frame_t</a> *)</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="a487e3905edaa65917b0c62d3ebf23249"></a><!-- doxytag: member="SegwayRMP::bus_type" ref="a487e3905edaa65917b0c62d3ebf23249" args="" -->
BusType&nbsp;</td><td class="memItemRight" valign="bottom"><b>bus_type</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac402dcacd3ce8e60b3a2775815ddbc73"></a><!-- doxytag: member="SegwayRMP::portname" ref="ac402dcacd3ce8e60b3a2775815ddbc73" args="" -->
const char *&nbsp;</td><td class="memItemRight" valign="bottom"><b>portname</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab1570542da119d94bb32a1af5996b49c"></a><!-- doxytag: member="SegwayRMP::caniotype" ref="ab1570542da119d94bb32a1af5996b49c" args="" -->
const char *&nbsp;</td><td class="memItemRight" valign="bottom"><b>caniotype</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab916ab455735820d8d0d9cb99dc52bd8"></a><!-- doxytag: member="SegwayRMP::usb_device" ref="ab916ab455735820d8d0d9cb99dc52bd8" args="" -->
const char *&nbsp;</td><td class="memItemRight" valign="bottom"><b>usb_device</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8443d8841452a2331a8164232a6c415f"></a><!-- doxytag: member="SegwayRMP::timeout_counter" ref="a8443d8841452a2331a8164232a6c415f" args="" -->
int&nbsp;</td><td class="memItemRight" valign="bottom"><b>timeout_counter</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a90d02f3cc0f2d4a21d68ddd9630f1f3f"></a><!-- doxytag: member="SegwayRMP::max_xspeed" ref="a90d02f3cc0f2d4a21d68ddd9630f1f3f" args="" -->
float&nbsp;</td><td class="memItemRight" valign="bottom"><b>max_xspeed</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4eabc5da3161d7f26fa6ea56c6b8b91e"></a><!-- doxytag: member="SegwayRMP::max_yawspeed" ref="a4eabc5da3161d7f26fa6ea56c6b8b91e" args="" -->
float&nbsp;</td><td class="memItemRight" valign="bottom"><b>max_yawspeed</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afaec799c3ab9cf79340e39c04f95ceea"></a><!-- doxytag: member="SegwayRMP::firstread" ref="afaec799c3ab9cf79340e39c04f95ceea" args="" -->
bool&nbsp;</td><td class="memItemRight" valign="bottom"><b>firstread</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adba1f4add999003c938cefa4dd79d1f0"></a><!-- doxytag: member="SegwayRMP::canio" ref="adba1f4add999003c938cefa4dd79d1f0" args="" -->
<a class="el" href="classDualCANIO.html">DualCANIO</a> *&nbsp;</td><td class="memItemRight" valign="bottom"><b>canio</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a102504788437ab2fc9845196877eebfe"></a><!-- doxytag: member="SegwayRMP::usbio" ref="a102504788437ab2fc9845196877eebfe" args="" -->
<a class="el" href="classUSBIO.html">USBIO</a> *&nbsp;</td><td class="memItemRight" valign="bottom"><b>usbio</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a20abe44b8349fb21d1daef96e109b0fe"></a><!-- doxytag: member="SegwayRMP::curr_xspeed" ref="a20abe44b8349fb21d1daef96e109b0fe" args="" -->
float&nbsp;</td><td class="memItemRight" valign="bottom"><b>curr_xspeed</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9289d58befa8ffb082cd7959fd073628"></a><!-- doxytag: member="SegwayRMP::curr_yawspeed" ref="a9289d58befa8ffb082cd7959fd073628" args="" -->
float&nbsp;</td><td class="memItemRight" valign="bottom"><b>curr_yawspeed</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afb8046fb332c3f19e8dc5d57e966a00d"></a><!-- doxytag: member="SegwayRMP::last_xspeed" ref="afb8046fb332c3f19e8dc5d57e966a00d" args="" -->
float&nbsp;</td><td class="memItemRight" valign="bottom"><b>last_xspeed</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a85c1e2981583fb09ad3afc545dc6b852"></a><!-- doxytag: member="SegwayRMP::last_yawspeed" ref="a85c1e2981583fb09ad3afc545dc6b852" args="" -->
float&nbsp;</td><td class="memItemRight" valign="bottom"><b>last_yawspeed</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9e464985c23a5f5e9995bf6d3a29e800"></a><!-- doxytag: member="SegwayRMP::speed_change" ref="a9e464985c23a5f5e9995bf6d3a29e800" args="" -->
bool&nbsp;</td><td class="memItemRight" valign="bottom"><b>speed_change</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1baf4320e2a8206f9a43fcf63cbc1061"></a><!-- doxytag: member="SegwayRMP::motor_allow_enable" ref="a1baf4320e2a8206f9a43fcf63cbc1061" args="" -->
bool&nbsp;</td><td class="memItemRight" valign="bottom"><b>motor_allow_enable</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6ff063a36b733ef95c64b957b30b802d"></a><!-- doxytag: member="SegwayRMP::motor_enabled" ref="a6ff063a36b733ef95c64b957b30b802d" args="" -->
bool&nbsp;</td><td class="memItemRight" valign="bottom"><b>motor_enabled</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0e004149b55b58d37e8e90dbf96c246d"></a><!-- doxytag: member="SegwayRMP::last_raw_yaw" ref="a0e004149b55b58d37e8e90dbf96c246d" args="" -->
uint32_t&nbsp;</td><td class="memItemRight" valign="bottom"><b>last_raw_yaw</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afd2bb06f70547a8b447439e3699772d4"></a><!-- doxytag: member="SegwayRMP::last_raw_left" ref="afd2bb06f70547a8b447439e3699772d4" args="" -->
uint32_t&nbsp;</td><td class="memItemRight" valign="bottom"><b>last_raw_left</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7e4ea6f28571ad78e1b5bfacd8ff2133"></a><!-- doxytag: member="SegwayRMP::last_raw_right" ref="a7e4ea6f28571ad78e1b5bfacd8ff2133" args="" -->
uint32_t&nbsp;</td><td class="memItemRight" valign="bottom"><b>last_raw_right</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9a9e8eddfbe6d0e6e9e48d9d472aa1d2"></a><!-- doxytag: member="SegwayRMP::last_raw_foreaft" ref="a9a9e8eddfbe6d0e6e9e48d9d472aa1d2" args="" -->
uint32_t&nbsp;</td><td class="memItemRight" valign="bottom"><b>last_raw_foreaft</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a68f828485684c3a3e8c1777c81e0f17b"></a><!-- doxytag: member="SegwayRMP::odom_x" ref="a68f828485684c3a3e8c1777c81e0f17b" args="" -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><b>odom_x</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aca0c9f939eb9a58d7eb4b3da7f1a69fb"></a><!-- doxytag: member="SegwayRMP::odom_y" ref="aca0c9f939eb9a58d7eb4b3da7f1a69fb" args="" -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><b>odom_y</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aca5a428a4a02471f00c54eba1706309b"></a><!-- doxytag: member="SegwayRMP::odom_yaw" ref="aca5a428a4a02471f00c54eba1706309b" args="" -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><b>odom_yaw</b></td></tr>
</table>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a533bab32d35b2733f40e9083d0df0531"></a><!-- doxytag: member="SegwayRMP::Main" ref="a533bab32d35b2733f40e9083d0df0531" args="()" -->
<div class="memitem">
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          <td class="memname">void SegwayRMP::Main </td>
          <td>(</td>
          <td class="paramname"></td>
          <td>&nbsp;)&nbsp;</td>
          <td><code> [private, virtual]</code></td>
        </tr>
      </table>
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<div class="memdoc">

<p>Main method for driver thread. </p>
<p>drivers have their own thread of execution, created using StartThread(); this is the entry point for the driver thread, and must be overloaded by all threaded drivers. </p>

<p><p>@ TODO report better timestamps, possibly using time info from the RMP</p>
<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000032">Todo:</a></b></dt><dd>We are getting intermittent timeouts. Does not break functionality, but should be checked. </dd></dl>
</p>

<p>Implements <a class="el" href="classThreadedDriver.html#a962ea9c4e4e36570dd33604552726ae9">ThreadedDriver</a>.</p>

<p>References <a class="el" href="group__libplayercommon.html#ga037512b044a9b748088953b8229daf7e">PLAYER_ERROR</a>, <a class="el" href="group__libplayercommon.html#gae7553e0b3d58ba01b7ece74c89430cd7">PLAYER_MSG0</a>, <a class="el" href="group__libplayercommon.html#ga32eb2b754eb9149a8e71408d77d57412">PLAYER_MSG2</a>, <a class="el" href="group__message__types.html#ga57872b03daef439c29a81f0aba7208b5">PLAYER_MSGTYPE_DATA</a>, <a class="el" href="group__interface__position2d.html#gaf0fbfea4fcbea0c2eee0bedabd481fba">PLAYER_POSITION2D_DATA_STATE</a>, <a class="el" href="group__interface__position3d.html#ga0982c916bb2bf8e6f51b906e3a24cb3d">PLAYER_POSITION3D_DATA_STATE</a>, <a class="el" href="group__interface__power.html#ga720d4dddb48ab5d2ef81ddc9de3b283e">PLAYER_POWER_DATA_STATE</a>, <a class="el" href="group__libplayercommon.html#ga107ea47b28d5a6293b328ece093a91db">PLAYER_WARN</a>, <a class="el" href="classDriver.html#a91c6a959c611b5ff76623e82de665f68">Driver::ProcessMessages()</a>, and <a class="el" href="classDriver.html#a8ac61526abb8989ca115bd773b7cbc1a">Driver::Publish()</a>.</p>

</div>
</div>
<a class="anchor" id="aef2368b2aca07a6a3aa8cc7234101ad1"></a><!-- doxytag: member="SegwayRMP::MainQuit" ref="aef2368b2aca07a6a3aa8cc7234101ad1" args="()" -->
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          <td class="memname">void SegwayRMP::MainQuit </td>
          <td>(</td>
          <td class="paramtype">void&nbsp;</td>
          <td class="paramname"></td>
          <td>&nbsp;)&nbsp;</td>
          <td><code> [virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Cleanup method for driver thread (called when main exits). </p>
<p>Overload this method and to do additional cleanup when the driver thread exits. </p>

<p>Reimplemented from <a class="el" href="classThreadedDriver.html#ae35d4f9522aace06af1ca7056af9a2ae">ThreadedDriver</a>.</p>

<p>References <a class="el" href="group__libplayercommon.html#gae7553e0b3d58ba01b7ece74c89430cd7">PLAYER_MSG0</a>.</p>

</div>
</div>
<a class="anchor" id="a17e359d0e45f05a98a0891ffab1f2731"></a><!-- doxytag: member="SegwayRMP::ProcessMessage" ref="a17e359d0e45f05a98a0891ffab1f2731" args="(QueuePointer &amp;resp_queue, player_msghdr *hdr, void *data)" -->
<div class="memitem">
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          <td class="memname">int SegwayRMP::ProcessMessage </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classQueuePointer.html">QueuePointer</a> &amp;&nbsp;</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> *&nbsp;</td>
          <td class="paramname"> <em>hdr</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">void *&nbsp;</td>
          <td class="paramname"> <em>data</em></td><td>&nbsp;</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>&nbsp;</td><td>The queue to which any response should go. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>hdr</em>&nbsp;</td><td>The message header </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>data</em>&nbsp;</td><td>The message body </td></tr>
  </table>
  </dd>
</dl>

<p><dl class="todo"><dt><b><a class="el" href="todo.html#_todo000033">Todo:</a></b></dt><dd>Handle config requests </dd></dl>
</p>

<p>Reimplemented from <a class="el" href="classDriver.html#ab05d0e8502a494a83d0442a48095a35c">Driver</a>.</p>

<p>References <a class="el" href="structplayer__msghdr.html#aefb4cbdabb4aa6cb01fd56ba7b2aeafb">player_msghdr::addr</a>, <a class="el" href="structplayer__devaddr.html#a2814dc42b4162c8451876312fc85f0a8">player_devaddr::index</a>, <a class="el" href="structplayer__devaddr.html#ac6a1d9efc69d7dee301aba2ef4b5948d">player_devaddr::interf</a>, <a class="el" href="classMessage.html#a5fd1734509a7520a64186c2653207751">Message::MatchMessage()</a>, <a class="el" href="structplayer__pose2d.html#a81438ba2b285ecbd3e52ea39450b5a92">player_pose2d::pa</a>, <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>, <a class="el" href="group__interface__position2d.html#gacaf0b14c255b47d09fef5efd7dd0fb22">PLAYER_POSITION2D_CMD_VEL</a>, <a class="el" href="group__interface__position3d.html#ga8b3dd0e534d6eb2cecd800e6ef229ac1">PLAYER_POSITION3D_CMD_SET_VEL</a>, <a class="el" href="structplayer__pose3d.html#aa36562136aabc6805b4411d4b942e661">player_pose3d::px</a>, <a class="el" href="structplayer__pose2d.html#a7f84ac1c98924591797d8ce3de61d586">player_pose2d::px</a>, <a class="el" href="structplayer__pose3d.html#abf168b9b5acd66c83a01783512be56dd">player_pose3d::pyaw</a>, <a class="el" href="structplayer__msghdr.html#a27ef3166ee2eacc5e694e5a20f6fe5b6">player_msghdr::size</a>, <a class="el" href="structplayer__position3d__cmd__vel.html#ab6975e1a60269aad44695618e8b44729">player_position3d_cmd_vel::state</a>, <a class="el" href="structplayer__position2d__cmd__vel.html#a5ff654a97e4abb5a04256142061dbeb6">player_position2d_cmd_vel::state</a>, <a class="el" href="structplayer__msghdr.html#aeba88246e5ba9d3d6c1f2b60c329352b">player_msghdr::subtype</a>, <a class="el" href="structplayer__msghdr.html#a1c20e2f82ad8f6164f7cf31d940255fb">player_msghdr::type</a>, <a class="el" href="structplayer__position3d__cmd__vel.html#aa795d7f5d61c93afacf2eac25db49ae8">player_position3d_cmd_vel::vel</a>, and <a class="el" href="structplayer__position2d__cmd__vel.html#a38db0013f72bf2787356ff2b47c5ee00">player_position2d_cmd_vel::vel</a>.</p>

</div>
</div>
<a class="anchor" id="a0bc3d7cb89fafebe6563a991567dd53a"></a><!-- doxytag: member="SegwayRMP::UpdateData" ref="a0bc3d7cb89fafebe6563a991567dd53a" args="(rmp_frame_t *)" -->
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          <td class="memname">void SegwayRMP::UpdateData </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classrmp__frame__t.html">rmp_frame_t</a> *&nbsp;</td>
          <td class="paramname"> <em>data_frame</em></td>
          <td>&nbsp;)&nbsp;</td>
          <td><code> [private]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p><p>TODO left off here </p>
</p>

<p>References <a class="el" href="structplayer__pose2d.html#a81438ba2b285ecbd3e52ea39450b5a92">player_pose2d::pa</a>, <a class="el" href="structplayer__position3d__data.html#aa2b867efb63ab2ec5386c5c937deb9b0">player_position3d_data::pos</a>, <a class="el" href="structplayer__position2d__data.html#aec2b4f19406a26db96ef38f8b8b9c733">player_position2d_data::pos</a>, <a class="el" href="structplayer__pose3d.html#a8f5df4375e2bc0f2d988ff1bd7af6c57">player_pose3d::ppitch</a>, <a class="el" href="structplayer__pose3d.html#ac3da832499b20cc6099e8062552573bc">player_pose3d::proll</a>, <a class="el" href="structplayer__pose3d.html#aa36562136aabc6805b4411d4b942e661">player_pose3d::px</a>, <a class="el" href="structplayer__pose2d.html#a7f84ac1c98924591797d8ce3de61d586">player_pose2d::px</a>, <a class="el" href="structplayer__pose3d.html#a7fc88aeb333507a6026af12116d933b6">player_pose3d::py</a>, <a class="el" href="structplayer__pose2d.html#a9b31f8c715a04d1165f06a27f1ab6d18">player_pose2d::py</a>, <a class="el" href="structplayer__pose3d.html#abf168b9b5acd66c83a01783512be56dd">player_pose3d::pyaw</a>, <a class="el" href="structplayer__pose3d.html#a3872cad2e879fc4fef98d7a8c28248a1">player_pose3d::pz</a>, <a class="el" href="structplayer__position3d__data.html#aa7db7d77e12fee39f43efb8ca3da8d4e">player_position3d_data::stall</a>, <a class="el" href="structplayer__position2d__data.html#a1f93425d1fc8e0b0a38715000fd27a9c">player_position2d_data::stall</a>, <a class="el" href="structplayer__power__data.html#a52e83b0db433c14055ce187f8721ba3c">player_power_data::valid</a>, <a class="el" href="structplayer__position3d__data.html#a9f4593ca9ed1c3d9b8e3b51df96b7dcd">player_position3d_data::vel</a>, <a class="el" href="structplayer__position2d__data.html#a650a6c9b398579ea2701792d6b566eba">player_position2d_data::vel</a>, and <a class="el" href="structplayer__power__data.html#a30cae9c629f2b01163933fb205ef2340">player_power_data::volts</a>.</p>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="segwayrmp_8h_source.html">segwayrmp.h</a></li>
<li>segwayrmp.cc</li>
</ul>
</div>
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Last updated 12 September 2005 21:38:45
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