#include <defaultOdomChassisController.hpp>

Inheritance diagram for okapi::DefaultOdomChassisController:

Public Member Functions
	DefaultOdomChassisController (const TimeUtil &itimeUtil, std::shared_ptr< Odometry > iodometry, std::shared_ptr< ChassisController > icontroller, const StateMode &imode=StateMode::FRAME_TRANSFORMATION, QLength imoveThreshold=0_mm, QAngle iturnThreshold=0_deg, std::shared_ptr< Logger > ilogger=Logger::getDefaultLogger())
	Odometry based chassis controller that moves using a separately constructed chassis controller.

	DefaultOdomChassisController (const DefaultOdomChassisController &)=delete

	DefaultOdomChassisController (DefaultOdomChassisController &&other)=delete

DefaultOdomChassisController &	operator= (const DefaultOdomChassisController &other)=delete

DefaultOdomChassisController &	operator= (DefaultOdomChassisController &&other)=delete

void	driveToPoint (const Point &ipoint, bool ibackwards=false, const QLength &ioffset=0_mm) override
	Drives the robot straight to a point in the odom frame.

void	turnToPoint (const Point &ipoint) override
	Turns the robot to face a point in the odom frame.

std::shared_ptr< ChassisController >	getChassisController ()

ChassisController &	chassisController ()

void	turnToAngle (const QAngle &iangle) override
	This delegates to the input ChassisController.

void	moveDistance (QLength itarget) override
	This delegates to the input ChassisController.

void	moveRaw (double itarget) override
	This delegates to the input ChassisController.

void	moveDistanceAsync (QLength itarget) override
	This delegates to the input ChassisController.

void	moveRawAsync (double itarget) override
	This delegates to the input ChassisController.

void	turnAngle (QAngle idegTarget) override
	Turns chassis to desired angle (turns in the direction of smallest angle) (ex.

void	turnRaw (double idegTarget) override
	This delegates to the input ChassisController.

void	turnAngleAsync (QAngle idegTarget) override
	Turns chassis to desired angle (turns in the direction of smallest angle) (ex.

void	turnRawAsync (double idegTarget) override
	This delegates to the input ChassisController.

void	setTurnsMirrored (bool ishouldMirror) override
	This delegates to the input ChassisController.

bool	isSettled () override
	This delegates to the input ChassisController.

void	waitUntilSettled () override
	This delegates to the input ChassisController.

void	stop () override
	This delegates to the input ChassisController.

void	setMaxVelocity (double imaxVelocity) override
	This delegates to the input ChassisController.

double	getMaxVelocity () const override
	This delegates to the input ChassisController.

ChassisScales	getChassisScales () const override
	This delegates to the input ChassisController.

AbstractMotor::GearsetRatioPair	getGearsetRatioPair () const override
	This delegates to the input ChassisController.

std::shared_ptr< ChassisModel >	getModel () override
	This delegates to the input ChassisController.

ChassisModel &	model () override
	This delegates to the input ChassisController.

Public Member Functions inherited from okapi::OdomChassisController
	OdomChassisController (TimeUtil itimeUtil, std::shared_ptr< Odometry > iodometry, const StateMode &imode=StateMode::FRAME_TRANSFORMATION, const QLength &imoveThreshold=0_mm, const QAngle &iturnThreshold=0_deg, std::shared_ptr< Logger > ilogger=Logger::getDefaultLogger())
	Odometry based chassis controller.

	~OdomChassisController () override

	OdomChassisController (const OdomChassisController &)=delete

	OdomChassisController (OdomChassisController &&other)=delete

OdomChassisController &	operator= (const OdomChassisController &other)=delete

OdomChassisController &	operator= (OdomChassisController &&other)=delete

virtual OdomState	getState () const

virtual void	setState (const OdomState &istate)
	Set a new state to be the current state.

void	setDefaultStateMode (const StateMode &imode)
	Sets a default StateMode that will be used to interpret target points and query the Odometry state.

virtual void	setMoveThreshold (const QLength &imoveThreshold)
	Set a new move threshold.

virtual void	setTurnThreshold (const QAngle &iturnTreshold)
	Set a new turn threshold.

virtual QLength	getMoveThreshold () const

virtual QAngle	getTurnThreshold () const

void	startOdomThread ()
	Starts the internal odometry thread.

CrossplatformThread *	getOdomThread () const

std::shared_ptr< Odometry >	getOdometry ()

Public Member Functions inherited from okapi::ChassisController
	ChassisController ()=default
	A ChassisController adds a closed-loop layer on top of a ChassisModel.

virtual	~ChassisController ()=default

Protected Member Functions
void	waitForOdomTask ()

Protected Member Functions inherited from okapi::OdomChassisController
void	loop ()

Protected Attributes
std::shared_ptr< Logger >	logger

std::shared_ptr< ChassisController >	controller

Protected Attributes inherited from okapi::OdomChassisController
std::shared_ptr< Logger >	logger

TimeUtil	timeUtil

QLength	moveThreshold

QAngle	turnThreshold

std::shared_ptr< Odometry >	odom

CrossplatformThread *	odomTask {nullptr}

std::atomic_bool	dtorCalled {false}

StateMode	defaultStateMode {StateMode::FRAME_TRANSFORMATION}

std::atomic_bool	odomTaskRunning {false}

Additional Inherited Members
Static Protected Member Functions inherited from okapi::OdomChassisController
static void	trampoline (void *context)

Detailed Description

Definition at line 15 of file defaultOdomChassisController.hpp.

Constructor & Destructor Documentation

◆ DefaultOdomChassisController() [1/3]

okapi::DefaultOdomChassisController::DefaultOdomChassisController	(	const TimeUtil &	itimeUtil,
		std::shared_ptr< Odometry >	iodometry,
		std::shared_ptr< ChassisController >	icontroller,
		const StateMode &	imode = `StateMode::FRAME_TRANSFORMATION`,
		QLength	imoveThreshold = `0_mm`,
		QAngle	iturnThreshold = `0_deg`,
		std::shared_ptr< Logger >	ilogger = `Logger::getDefaultLogger()`
	)

Odometry based chassis controller that moves using a separately constructed chassis controller.

Spins up a task at the default priority plus 1 for odometry when constructed.

Moves the robot around in the odom frame. Instead of telling the robot to drive forward or turn some amount, you instead tell it to drive to a specific point on the field or turn to a specific angle, relative to its starting position.

Parameters

itimeUtil	The TimeUtil.
iodometry	The odometry to read state estimates from.
icontroller	The chassis controller to delegate to.
imode	The new default StateMode used to interpret target points and query the Odometry state.
imoveThreshold	minimum length movement (smaller movements will be skipped)
iturnThreshold	minimum angle turn (smaller turns will be skipped)
ilogger	The logger this instance will log to.

◆ DefaultOdomChassisController() [2/3]

okapi::DefaultOdomChassisController::DefaultOdomChassisController ( const DefaultOdomChassisController & )

delete

◆ DefaultOdomChassisController() [3/3]

okapi::DefaultOdomChassisController::DefaultOdomChassisController ( DefaultOdomChassisController && other )

delete

Member Function Documentation

◆ chassisController()

ChassisController & okapi::DefaultOdomChassisController::chassisController ( )

Returns: The internal ChassisController.

◆ driveToPoint()

void okapi::DefaultOdomChassisController::driveToPoint	(	const Point &	ipoint,
		bool	ibackwards = `false`,
		const QLength &	ioffset = `0_mm`
	)

overridevirtual

Drives the robot straight to a point in the odom frame.

Parameters

ipoint	The target point to navigate to.
ibackwards	Whether to drive to the target point backwards.
ioffset	An offset from the target point in the direction pointing towards the robot. The robot will stop this far away from the target point.

Implements okapi::OdomChassisController.

◆ getChassisController()

std::shared_ptr< ChassisController > okapi::DefaultOdomChassisController::getChassisController ( )

Returns: The internal ChassisController.

◆ getChassisScales()

ChassisScales okapi::DefaultOdomChassisController::getChassisScales ( ) const

overridevirtual

This delegates to the input ChassisController.

Implements okapi::ChassisController.

◆ getGearsetRatioPair()

AbstractMotor::GearsetRatioPair okapi::DefaultOdomChassisController::getGearsetRatioPair ( ) const

overridevirtual

This delegates to the input ChassisController.

Implements okapi::ChassisController.

◆ getMaxVelocity()

double okapi::DefaultOdomChassisController::getMaxVelocity ( ) const

overridevirtual

This delegates to the input ChassisController.

Implements okapi::ChassisController.

◆ getModel()

std::shared_ptr< ChassisModel > okapi::DefaultOdomChassisController::getModel ( )

overridevirtual

This delegates to the input ChassisController.

Implements okapi::ChassisController.

◆ isSettled()

bool okapi::DefaultOdomChassisController::isSettled ( )

overridevirtual

This delegates to the input ChassisController.

Implements okapi::ChassisController.

◆ model()

ChassisModel & okapi::DefaultOdomChassisController::model ( )

overridevirtual

This delegates to the input ChassisController.

Implements okapi::ChassisController.

◆ moveDistance()

void okapi::DefaultOdomChassisController::moveDistance ( QLength itarget )

overridevirtual

This delegates to the input ChassisController.

Implements okapi::ChassisController.

◆ moveDistanceAsync()

void okapi::DefaultOdomChassisController::moveDistanceAsync ( QLength itarget )

overridevirtual

This delegates to the input ChassisController.

Implements okapi::ChassisController.

◆ moveRaw()

void okapi::DefaultOdomChassisController::moveRaw ( double itarget )

overridevirtual

This delegates to the input ChassisController.

Implements okapi::ChassisController.

◆ moveRawAsync()

void okapi::DefaultOdomChassisController::moveRawAsync ( double itarget )

overridevirtual

This delegates to the input ChassisController.

Implements okapi::ChassisController.

◆ operator=() [1/2]

DefaultOdomChassisController & okapi::DefaultOdomChassisController::operator= ( const DefaultOdomChassisController & other )

delete

◆ operator=() [2/2]

DefaultOdomChassisController & okapi::DefaultOdomChassisController::operator= ( DefaultOdomChassisController && other )

delete

◆ setMaxVelocity()

void okapi::DefaultOdomChassisController::setMaxVelocity ( double imaxVelocity )

overridevirtual

This delegates to the input ChassisController.

Implements okapi::ChassisController.

◆ setTurnsMirrored()

void okapi::DefaultOdomChassisController::setTurnsMirrored ( bool ishouldMirror )

overridevirtual

This delegates to the input ChassisController.

Implements okapi::ChassisController.

◆ stop()

void okapi::DefaultOdomChassisController::stop ( )

overridevirtual

This delegates to the input ChassisController.

Implements okapi::ChassisController.

◆ turnAngle()

void okapi::DefaultOdomChassisController::turnAngle ( QAngle idegTarget )

overridevirtual

Turns chassis to desired angle (turns in the direction of smallest angle) (ex.

If current angle is 0 and target is 270, the chassis will turn -90 degrees)

Parameters

idegTarget target angle

Implements okapi::ChassisController.

◆ turnAngleAsync()

void okapi::DefaultOdomChassisController::turnAngleAsync ( QAngle idegTarget )

overridevirtual

Turns chassis to desired angle (turns in the direction of smallest angle) (ex.

If current angle is 0 and target is 270, the chassis will turn -90 degrees)

Parameters

idegTarget target angle

Implements okapi::ChassisController.

◆ turnRaw()

void okapi::DefaultOdomChassisController::turnRaw ( double idegTarget )

overridevirtual

This delegates to the input ChassisController.

Implements okapi::ChassisController.

◆ turnRawAsync()

void okapi::DefaultOdomChassisController::turnRawAsync ( double idegTarget )

overridevirtual

This delegates to the input ChassisController.

Implements okapi::ChassisController.

◆ turnToAngle()

void okapi::DefaultOdomChassisController::turnToAngle ( const QAngle & iangle )

overridevirtual

This delegates to the input ChassisController.

Implements okapi::OdomChassisController.

◆ turnToPoint()

void okapi::DefaultOdomChassisController::turnToPoint ( const Point & ipoint )

overridevirtual

Turns the robot to face a point in the odom frame.

Parameters

ipoint The target point to turn to face.

Implements okapi::OdomChassisController.

◆ waitForOdomTask()

void okapi::DefaultOdomChassisController::waitForOdomTask ( )

protected

◆ waitUntilSettled()

void okapi::DefaultOdomChassisController::waitUntilSettled ( )

overridevirtual

This delegates to the input ChassisController.

Implements okapi::ChassisController.

Member Data Documentation

◆ controller

std::shared_ptr<ChassisController> okapi::DefaultOdomChassisController::controller

protected

Definition at line 179 of file defaultOdomChassisController.hpp.

◆ logger

std::shared_ptr<Logger> okapi::DefaultOdomChassisController::logger

protected

Definition at line 178 of file defaultOdomChassisController.hpp.

The documentation for this class was generated from the following file:

include/okapi/api/chassis/controller/defaultOdomChassisController.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DefaultOdomChassisController() [1/3]

◆ DefaultOdomChassisController() [2/3]

◆ DefaultOdomChassisController() [3/3]

Member Function Documentation

◆ chassisController()

◆ driveToPoint()

◆ getChassisController()

◆ getChassisScales()

◆ getGearsetRatioPair()

◆ getMaxVelocity()

◆ getModel()

◆ isSettled()

◆ model()

◆ moveDistance()

◆ moveDistanceAsync()

◆ moveRaw()

◆ moveRawAsync()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setMaxVelocity()

◆ setTurnsMirrored()

◆ stop()

◆ turnAngle()

◆ turnAngleAsync()

◆ turnRaw()

◆ turnRawAsync()

◆ turnToAngle()

◆ turnToPoint()

◆ waitForOdomTask()

◆ waitUntilSettled()

Member Data Documentation

◆ controller

◆ logger