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<!-- Generated by Doxygen 1.7.1 -->
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<a href="#pri-attribs">Private Attributes</a> </div>
<div class="headertitle">
<h1>SegwayRMP400 Class Reference</h1> </div>
</div>
<div class="contents">
<!-- doxytag: class="SegwayRMP400" --><!-- doxytag: inherits="ThreadedDriver" -->
<p><a class="el" href="classSegwayRMP400.html" title="SegwayRMP400 Position Driver.">SegwayRMP400</a> Position <a class="el" href="classDriver.html" title="Base class for all drivers.">Driver</a>.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="segwayrmp400_8h_source.html">segwayrmp400.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for SegwayRMP400:</div>
<div class="dyncontent">
<div class="center">
<img src="classSegwayRMP400.png" usemap="#SegwayRMP400_map" alt=""/>
<map id="SegwayRMP400_map" name="SegwayRMP400_map">
<area href="classThreadedDriver.html" alt="ThreadedDriver" shape="rect" coords="0,56,105,80"/>
<area href="classDriver.html" alt="Driver" shape="rect" coords="0,0,105,24"/>
</map>
</div>
<p><a href="classSegwayRMP400-members.html">List of all members.</a></p>
<table class="memberdecls">
<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="ab7abf21018e8f673661ce0a78c1767a8"></a><!-- doxytag: member="SegwayRMP400::segwayrmp2d" ref="ab7abf21018e8f673661ce0a78c1767a8" args="[2]" -->
<a class="el" href="classDevice.html">Device</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#ab7abf21018e8f673661ce0a78c1767a8">segwayrmp2d</a> [2]</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">child segwayrmp200 devices for 2d subsrciption <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab5b13e52c6df35f69c1724861bed2bc0"></a><!-- doxytag: member="SegwayRMP400::segwayrmp3d" ref="ab5b13e52c6df35f69c1724861bed2bc0" args="[2]" -->
<a class="el" href="classDevice.html">Device</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#ab5b13e52c6df35f69c1724861bed2bc0">segwayrmp3d</a> [2]</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">child segwayrmp200 devices for 3d subsrciption <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3fc9c507c75dfe70b3d211820e222b14"></a><!-- doxytag: member="SegwayRMP400::segwayrmp2d_id" ref="a3fc9c507c75dfe70b3d211820e222b14" args="[2]" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#a3fc9c507c75dfe70b3d211820e222b14">segwayrmp2d_id</a> [2]</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">2d Position Interface Address (Output) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa70ba72dd12a6820b204bcc339cac411"></a><!-- doxytag: member="SegwayRMP400::segwayrmp3d_id" ref="aa70ba72dd12a6820b204bcc339cac411" args="[2]" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#aa70ba72dd12a6820b204bcc339cac411">segwayrmp3d_id</a> [2]</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">3d Position Interface Address (Output) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a28883cad5f2beb87280d44fd4d7f74b6"></a><!-- doxytag: member="SegwayRMP400::position3d_id" ref="a28883cad5f2beb87280d44fd4d7f74b6" args="" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#a28883cad5f2beb87280d44fd4d7f74b6">position3d_id</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">3d Position Interface Address (Input) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0738031194ee554cee8efb76850a7580"></a><!-- doxytag: member="SegwayRMP400::position2d_id" ref="a0738031194ee554cee8efb76850a7580" args="" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#a0738031194ee554cee8efb76850a7580">position2d_id</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">2d Position Interface Address (Input) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8b93e866d7921c5300c052d3ce797c3c"></a><!-- doxytag: member="SegwayRMP400::rmp2d_data" ref="a8b93e866d7921c5300c052d3ce797c3c" args="[2]" -->
<a class="el" href="structplayer__position2d__data.html">player_position2d_data_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#a8b93e866d7921c5300c052d3ce797c3c">rmp2d_data</a> [2]</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Incoming data from child segwayrmp200 devices 2d. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aade762d073d01b7142d47af781726793"></a><!-- doxytag: member="SegwayRMP400::rmp3d_data" ref="aade762d073d01b7142d47af781726793" args="[2]" -->
<a class="el" href="structplayer__position3d__data.html">player_position3d_data_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#aade762d073d01b7142d47af781726793">rmp3d_data</a> [2]</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Incoming data from child segwayrmp200 devices 3d. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4124faae1210f962766eeb64fff61b42"></a><!-- doxytag: member="SegwayRMP400::position2d_data" ref="a4124faae1210f962766eeb64fff61b42" args="" -->
<a class="el" href="structplayer__position2d__data.html">player_position2d_data_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#a4124faae1210f962766eeb64fff61b42">position2d_data</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Output data for parent segwayrmp400 device 2d. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3c8eb7313ece4fb4afd2e0eb3690ed2b"></a><!-- doxytag: member="SegwayRMP400::position2d_cmd" ref="a3c8eb7313ece4fb4afd2e0eb3690ed2b" args="" -->
<a class="el" href="structplayer__position2d__cmd__vel.html">player_position2d_cmd_vel_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#a3c8eb7313ece4fb4afd2e0eb3690ed2b">position2d_cmd</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Output cmd for parent segwayrmp400 device 2d. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abf904f5f2d992031abf30dc96cd37778"></a><!-- doxytag: member="SegwayRMP400::position3d_data" ref="abf904f5f2d992031abf30dc96cd37778" args="" -->
<a class="el" href="structplayer__position3d__data.html">player_position3d_data_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#abf904f5f2d992031abf30dc96cd37778">position3d_data</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Output data for parent segwayrmp400 device 3d. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a850d82241091b391b3aab5393eb13dbc"></a><!-- doxytag: member="SegwayRMP400::position3d_cmd" ref="a850d82241091b391b3aab5393eb13dbc" args="" -->
<a class="el" href="structplayer__position3d__cmd__vel.html">player_position3d_cmd_vel_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#a850d82241091b391b3aab5393eb13dbc">position3d_cmd</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Output cmd for parent segwayrmp400 device 3d. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a42887d38d65ef446eb3f4009ffb8d754"></a><!-- doxytag: member="SegwayRMP400::provide_2d" ref="a42887d38d65ef446eb3f4009ffb8d754" args="" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#a42887d38d65ef446eb3f4009ffb8d754">provide_2d</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Provide 2d interface Flag. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad1f35b7f8819af642ad95d69c1d1eb15"></a><!-- doxytag: member="SegwayRMP400::provide_3d" ref="ad1f35b7f8819af642ad95d69c1d1eb15" args="" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#ad1f35b7f8819af642ad95d69c1d1eb15">provide_3d</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Provide 3d interface Flag. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac580a6edd5f74c9b98151f23a8eae5fb"></a><!-- doxytag: member="SegwayRMP400::counter" ref="ac580a6edd5f74c9b98151f23a8eae5fb" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>counter</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a401a1e12359326eb07e4e5f7c786db28"></a><!-- doxytag: member="SegwayRMP400::newfront3d" ref="a401a1e12359326eb07e4e5f7c786db28" args="" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#a401a1e12359326eb07e4e5f7c786db28">newfront3d</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Flags for new data. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a68912795ccb505f7f40685558c650571"></a><!-- doxytag: member="SegwayRMP400::newback3d" ref="a68912795ccb505f7f40685558c650571" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>newback3d</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afc1a84721286b8d8a884133c6b3ce408"></a><!-- doxytag: member="SegwayRMP400::newfront2d" ref="afc1a84721286b8d8a884133c6b3ce408" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>newfront2d</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a09608ab90c11f20a8866130c9ae63b70"></a><!-- doxytag: member="SegwayRMP400::newback2d" ref="a09608ab90c11f20a8866130c9ae63b70" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>newback2d</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af813ca1123ac76d519e04e6eb903cc4d"></a><!-- doxytag: member="SegwayRMP400::fullspeed" ref="af813ca1123ac76d519e04e6eb903cc4d" args="" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#af813ca1123ac76d519e04e6eb903cc4d">fullspeed</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Flag for full speed data reporting. <br/></td></tr>
<tr><td colspan="2"><p><a class="anchor" id="amgrpd41d8cd98f00b204e9800998ecf8427e"></a> </p>
<br/><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acb6a15335d0c3af344f7dd183f844767"></a><!-- doxytag: member="SegwayRMP400::SegwayRMP400" ref="acb6a15335d0c3af344f7dd183f844767" args="(ConfigFile *cf, int section)" -->
</td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#acb6a15335d0c3af344f7dd183f844767">SegwayRMP400</a> (<a class="el" href="classConfigFile.html">ConfigFile</a> *cf, int section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Standard Constructor. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a844d25800afd96bc5f5fe61e0a352757"></a><!-- doxytag: member="SegwayRMP400::MainSetup" ref="a844d25800afd96bc5f5fe61e0a352757" args="()" -->
virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#a844d25800afd96bc5f5fe61e0a352757">MainSetup</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize (Player Standard). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5748fd3e2f481374b0c41d60bf5b09f7"></a><!-- doxytag: member="SegwayRMP400::MainQuit" ref="a5748fd3e2f481374b0c41d60bf5b09f7" args="()" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#a5748fd3e2f481374b0c41d60bf5b09f7">MainQuit</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Shutdown (Player Standard). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9307e1f4218a1fc424dc91938960fb06"></a><!-- doxytag: member="SegwayRMP400::Main" ref="a9307e1f4218a1fc424dc91938960fb06" args="()" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#a9307e1f4218a1fc424dc91938960fb06">Main</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Main. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a349a66282dd9c799c541014713d2cec4"></a><!-- doxytag: member="SegwayRMP400::ProcessMessage" ref="a349a66282dd9c799c541014713d2cec4" args="(QueuePointer &resp_queue, player_msghdr_t *hdr, void *data)" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#a349a66282dd9c799c541014713d2cec4">ProcessMessage</a> (<a class="el" href="classQueuePointer.html">QueuePointer</a> &resp_queue, <a class="el" href="structplayer__msghdr.html">player_msghdr_t</a> *hdr, void *data)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Process message function (Player Standard). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#af9a7d2442e7dbd619197c7219afd3b26">ProcessData</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Packages position data and publishes. <a href="#af9a7d2442e7dbd619197c7219afd3b26"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acc75b9921b519fbf42577452a7ae618c"></a><!-- doxytag: member="SegwayRMP400::HandlePosition3DCmd" ref="acc75b9921b519fbf42577452a7ae618c" args="(player_position3d_cmd_vel_t *cmd)" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#acc75b9921b519fbf42577452a7ae618c">HandlePosition3DCmd</a> (<a class="el" href="structplayer__position3d__cmd__vel.html">player_position3d_cmd_vel_t</a> *cmd)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Internal method to handle position 3D commands. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a93f9e247bb5689d176e069c2adff3e1d"></a><!-- doxytag: member="SegwayRMP400::HandlePosition2DCmd" ref="a93f9e247bb5689d176e069c2adff3e1d" args="(player_position2d_cmd_vel_t *cmd)" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="classSegwayRMP400.html#a93f9e247bb5689d176e069c2adff3e1d">HandlePosition2DCmd</a> (<a class="el" href="structplayer__position2d__cmd__vel.html">player_position2d_cmd_vel_t</a> *cmd)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Internal method to handle position 2D commands. <br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p><a class="el" href="classSegwayRMP400.html" title="SegwayRMP400 Position Driver.">SegwayRMP400</a> Position <a class="el" href="classDriver.html" title="Base class for all drivers.">Driver</a>. </p>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="af9a7d2442e7dbd619197c7219afd3b26"></a><!-- doxytag: member="SegwayRMP400::ProcessData" ref="af9a7d2442e7dbd619197c7219afd3b26" args="()" -->
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<td class="memname">void SegwayRMP400::ProcessData </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td><code> [private]</code></td>
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<p>Packages position data and publishes. </p>
<p><dl class="todo"><dt><b><a class="el" href="todo.html#_todo000036">Todo:</a></b></dt><dd>Add smarter approach to combine the data from both RMPs. For now, just average. </dd></dl>
</p>
<p>References <a class="el" href="classSegwayRMP400.html#af813ca1123ac76d519e04e6eb903cc4d">fullspeed</a>, <a class="el" href="classSegwayRMP400.html#a401a1e12359326eb07e4e5f7c786db28">newfront3d</a>, <a class="el" href="structplayer__pose2d.html#a81438ba2b285ecbd3e52ea39450b5a92">player_pose2d::pa</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="structplayer__position2d__data.html#aec2b4f19406a26db96ef38f8b8b9c733">player_position2d_data::pos</a>, <a class="el" href="structplayer__position3d__data.html#aa2b867efb63ab2ec5386c5c937deb9b0">player_position3d_data::pos</a>, <a class="el" href="classSegwayRMP400.html#a4124faae1210f962766eeb64fff61b42">position2d_data</a>, <a class="el" href="classSegwayRMP400.html#a0738031194ee554cee8efb76850a7580">position2d_id</a>, <a class="el" href="classSegwayRMP400.html#abf904f5f2d992031abf30dc96cd37778">position3d_data</a>, <a class="el" href="classSegwayRMP400.html#a28883cad5f2beb87280d44fd4d7f74b6">position3d_id</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="classDriver.html#a8ac61526abb8989ca115bd773b7cbc1a">Driver::Publish()</a>, <a class="el" href="structplayer__pose2d.html#a7f84ac1c98924591797d8ce3de61d586">player_pose2d::px</a>, <a class="el" href="structplayer__pose3d.html#aa36562136aabc6805b4411d4b942e661">player_pose3d::px</a>, <a class="el" href="structplayer__pose2d.html#a9b31f8c715a04d1165f06a27f1ab6d18">player_pose2d::py</a>, <a class="el" href="structplayer__pose3d.html#a7fc88aeb333507a6026af12116d933b6">player_pose3d::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="classSegwayRMP400.html#a8b93e866d7921c5300c052d3ce797c3c">rmp2d_data</a>, <a class="el" href="classSegwayRMP400.html#aade762d073d01b7142d47af781726793">rmp3d_data</a>, <a class="el" href="structplayer__position2d__data.html#a650a6c9b398579ea2701792d6b566eba">player_position2d_data::vel</a>, and <a class="el" href="structplayer__position3d__data.html#a9f4593ca9ed1c3d9b8e3b51df96b7dcd">player_position3d_data::vel</a>.</p>
<p>Referenced by <a class="el" href="classSegwayRMP400.html#a9307e1f4218a1fc424dc91938960fb06">Main()</a>.</p>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="segwayrmp400_8h_source.html">segwayrmp400.h</a></li>
<li>segwayrmp400.cc</li>
</ul>
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Last updated 12 September 2005 21:38:45
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