The Base Module (base)

The CARMEN base driver provides an generic interface to the robot base hardware. More...

Files
file	arm_interface.h
	Definition of the interface of the module arm.
file	arm_messages.h
	Definition of the messages for this module.
file	base_interface.h
	Definition of the interface of the module base.
file	base_messages.h
	Definition of the messages for this module.
file	segway_interface.h
	Definition of the messages for this module.
file	segway_messages.h
	Definition of the messages for this module.
Data Structures
struct	carmen_arm_command_message
struct	carmen_arm_state_message
struct	carmen_base_odometry_message
struct	carmen_base_velocity_message
struct	carmen_base_holonomic_velocity_message
struct	carmen_base_sonar_message
struct	carmen_base_sonar_conf_message
struct	carmen_base_bumper_message
struct	carmen_base_ir_message
struct	carmen_base_ir_conf_message
struct	carmen_base_binary_data_message
struct	carmen_segway_pose_message
struct	carmen_segway_battery_message
Defines
#define	CARMEN_ARM_HAS_ANGULAR_VEL_STATES   1
#define	CARMEN_ARM_HAS_CURRENT_STATES   2
#define	CARMEN_ARM_HAS_GRIPPER   4
#define	CARMEN_ARM_QUERY_NAME   "carmen_arm_query"
#define	CARMEN_ARM_RESET_OCCURRED_NAME   "carmen_arm_reset_occurred"
#define	CARMEN_ARM_RESET_COMMAND_NAME   "carmen_arm_reset_command"
#define	CARMEN_ARM_COMMAND_NAME   "carmen_arm_command"
#define	CARMEN_ARM_COMMAND_FMT   "{int,<double:1>,double,string}"
#define	CARMEN_ARM_STATE_NAME   "carmen_arm_state"
#define	CARMEN_ARM_STATE_FMT   "{int,int,<double:2>,int,<double:4>,int,<double:6>,int,double,string}"
#define	CARMEN_BASE_RESET_OCCURRED_NAME   "carmen_base_reset_occurred"
#define	CARMEN_BASE_RESET_COMMAND_NAME   "carmen_base_reset_command"
#define	CARMEN_BASE_ODOMETRY_NAME   "carmen_base_odometry"
#define	CARMEN_BASE_ODOMETRY_FMT   "{double,double,double,double,double,double,double,string}"
#define	CARMEN_BASE_VELOCITY_NAME   "carmen_base_velocity"
#define	CARMEN_BASE_VELOCITY_FMT   "{double,double,double,string}"
#define	CARMEN_BASE_HOLONOMIC_VELOCITY_NAME   "carmen_base_holonomic_velocity"
#define	CARMEN_BASE_HOLONOMIC_VELOCITY_FMT   "{double,double,double,double,string}"
#define	CARMEN_BASE_SONAR_NAME   "carmen_base_sonar"
#define	CARMEN_BASE_SONAR_FMT   "{int,double,<double:1>,<{double,double,double}:1>,double,string}"
#define	CARMEN_BASE_SONAR_CONF_NAME   "carmen_base_sonar_conf"
#define	CARMEN_BASE_SONAR_CONF_FMT   "{int,int,<int:2>,<{double,double,double}:2>,double,string}"
#define	CARMEN_BASE_BUMPER_NAME   "carmen_base_bumper"
#define	CARMEN_BASE_BUMPER_FMT   "{int,<char:1>,double,string}"
#define	CARMEN_BASE_IR_NAME   "carmen_base_ir"
#define	CARMEN_BASE_IR_FMT   "{int,<double:1>,double,string}"
#define	CARMEN_BASE_IR_CONF_NAME   "carmen_base_ir_conf"
#define	CARMEN_BASE_IR_CONF_FMT   "{int,int,[int:32],double,string}"
#define	CARMEN_BASE_BINARY_COMMAND_NAME   "carmen_base_binary_command"
#define	CARMEN_BASE_BINARY_COMMAND_FMT   "{<char:2>,int,double,string}"
#define	CARMEN_BASE_BINARY_DATA_NAME   "carmen_base_binary_data"
#define	CARMEN_BASE_BINARY_DATA_FMT   "{<char:2>,int,double,string}"
#define	CARMEN_SEGWAY_POSE_NAME   "carmen_segway_pose"
#define	CARMEN_SEGWAY_POSE_FMT   "{double,string,double,double,double,double,double,double,double,double,double,double,double}"
#define	CARMEN_SEGWAY_BATTERY_NAME   "carmen_segway_battery"
#define	CARMEN_SEGWAY_BATTERY_FMT   "{double,string,int}"
#define	CARMEN_SEGWAY_KILL_NAME   "carmen_segway_kill"
#define	CARMEN_SEGWAY_KILL_FMT   ""
Typedefs
typedef carmen_default_message	carmen_arm_query_message
typedef carmen_default_message	carmen_arm_reset_occurred_message
typedef carmen_default_message	carmen_arm_reset_command_message
typedef carmen_default_message	carmen_base_reset_occurred_message
typedef carmen_default_message	carmen_base_reset_command_message
Functions
void	carmen_arm_subscribe_state_message (carmen_arm_state_message *arm_state, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
int	carmen_arm_query_state (carmen_arm_state_message **arm_state)
void	carmen_arm_command (int num_joints, double *joint_angles)
void	carmen_base_subscribe_odometry_message (carmen_base_odometry_message *odometry, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	carmen_base_subscribe_sonar_message (carmen_base_sonar_message *sonar, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	carmen_base_subscribe_bumper_message (carmen_base_bumper_message *bumper, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	carmen_base_subscribe_reset_occurred_message (carmen_default_message *reset, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	carmen_base_reset (void)
void	carmen_segway_subscribe_pose_message (carmen_segway_pose_message *pose, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	carmen_segway_subscribe_battery_message (carmen_segway_battery_message *battery, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	carmen_segway_kill_command (void)
Variables
char *	carmen_segway_pose_message::host
double	carmen_segway_pose_message::pitch
double	carmen_segway_pose_message::pitch_rate
double	carmen_segway_pose_message::roll
double	carmen_segway_pose_message::roll_rate
double	carmen_segway_pose_message::lw_velocity
double	carmen_segway_pose_message::rw_velocity
double	carmen_segway_pose_message::tv
double	carmen_segway_pose_message::rv
double	carmen_segway_pose_message::x
double	carmen_segway_pose_message::y
double	carmen_segway_pose_message::theta
char *	carmen_segway_battery_message::host
int	carmen_segway_battery_message::percent

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Detailed Description

The CARMEN base driver provides an generic interface to the robot base hardware.

The module base provides an generic interface to the robot base hardware.

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