Created: | 2015-07-31 오후 4:10:03 |
Modified: | 2015-07-31 오후 4:10:03 |
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Attribute | ||
Public int _controlMode |
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Public double _curLinearPos |
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Public double _curLinearVel |
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Public double _curSteerAngle |
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Public double _linearVel |
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Private CDeviceLock _lock |
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Private CMobilityProfile* _mp |
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Public CPosture _posture |
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Public DWORD _readTime |
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Public CPosture _realPosture |
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Public long _realRearWheelEncoder |
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Public long _realSteerAbsEncoder |
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Private long _rearWheelEncoderPrev |
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Private CSerialCOM* _serial |
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Private long _steerAbsEncoderPrev |
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Public double _steerAngle |
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Operation | ||
Private CalcNextPosition( ![]() ![]() ![]() ![]() ![]() |
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Sequential
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Private CalcNextVelocity( ![]() ![]() ![]() ![]() ![]() ![]() |
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Sequential
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Private CmdDrive( ![]() ![]() |
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Sequential
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Private CmdNull():void |
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Sequential
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Private CmdReadStatus( ![]() ![]() ![]() ![]() |
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Sequential
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Public CMobility( ![]() ![]() |
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Sequential
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Public ~CMobility(): |
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Sequential
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Private CorrectSteerAngle( ![]() |
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Sequential
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Private DeadReckoning( ![]() ![]() ![]() ![]() |
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Sequential
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Public Drive( ![]() ![]() ![]() ![]() |
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Sequential
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Private EmptyRecvBuff():void |
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Sequential
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Private FindAndMove( ![]() ![]() ![]() |
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Sequential
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Public QuickStop():bool |
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Sequential
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Public ReadEncoder( ![]() |
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Sequential
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Private ReadMobilityEncoder( ![]() ![]() |
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Sequential
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Private ReadPacket( ![]() ![]() ![]() ![]() |
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Sequential
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Element | Source Role | Target Role |
CDeviceLock Class |
Name: |
Name: _lock |
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CMobilityProfile Class |
Name: |
Name: _mp |
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CPosture Class |
Name: |
Name: _posture |
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«typedef» DWORD Class |
Name: |
Name: _readTime |
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CPosture Class |
Name: |
Name: _realPosture |
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CSerialCOM Class |
Name: |
Name: _serial |
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Element | Source Role | Target Role |
DeviceManager Class |
Name: |
Name: _mobility |
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