: Public Class

Created: | 2015-07-31 오후 4:10:03
Modified: | 2015-07-31 오후 4:10:03
Project: |
Author: | shint
Version: | 1.0
Phase: | 1.0
Status: | Proposed
Complexity: | Easy
Difficulty: |
Priority: |
Multiplicity: |
Advanced: |
UUID: | {572B7C4E-81C7-44e6-839A-0586001BF120}
Appears In: | Package1

- Attributes
- Operations
- Associations To
- Associations From

Attribute
Public int _controlMode
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | 차량의 동작 모드: 0-수동운전, 1-반자동 운전(조향만 자동제어), 2-자동 운전(조향, 속도 자동제어)#lt;p/#gt;
Public double _curLinearPos
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Public double _curLinearVel
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Public double _curSteerAngle
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Public double _linearVel
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | Unit: m/s#lt;p/#gt;
Private CDeviceLock _lock
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Private CMobilityProfile* _mp
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Public CPosture _posture
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | Dead-reckoning으로 계산한 차량의 위치와 방위#lt;p/#gt;
Public DWORD _readTime
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Public CPosture _realPosture
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | !!!시뮬레이션을 위해 임시로 둠#lt;p/#gt;
Public long _realRearWheelEncoder
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Public long _realSteerAbsEncoder
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Private long _rearWheelEncoderPrev
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Private CSerialCOM* _serial
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Private long _steerAbsEncoderPrev
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Public double _steerAngle
Details:
Alias: |
Initial: |
Stereotype: |
Ordered: |
Range: |
Transient: | False
Derived: | False
IsID: | False
Notes: | Unit: rad#lt;p/#gt;

Operation
Private CalcNextPosition( currentPos: double,
Default: |
Kind: | in
Stereotype: |
desiredPos: double,
Default: |
Kind: | in
Stereotype: |
maxPos: double,
Default: |
Kind: | in
Stereotype: |
vel: double,
Default: |
Kind: | in
Stereotype: |
dt: double,
Default: |
Kind: | in
Stereotype: |
):double
Details: Sequential
Private CalcNextVelocity( remainDist: double,
Default: |
Kind: | in
Stereotype: |
currentVel: double,
Default: |
Kind: | in
Stereotype: |
desiredVel: double,
Default: |
Kind: | in
Stereotype: |
maxVel: double,
Default: |
Kind: | in
Stereotype: |
accel: double,
Default: |
Kind: | in
Stereotype: |
dt: double,
Default: |
Kind: | in
Stereotype: |
):double
Details: Sequential
Private CmdDrive( rearWheelVel: long,
Default: |
Kind: | in
Stereotype: |
steerAngle: long,
Default: |
Kind: | in
Stereotype: |
):bool
Details: Sequential
Private CmdNull():void
Details: Sequential
Private CmdReadStatus( mode: int*,
Default: |
Kind: | in
Stereotype: |
steerAbsEncoder: long*,
Default: |
Kind: | in
Stereotype: |
rearWheelEncoder: long*,
Default: |
Kind: | in
Stereotype: |
rearWheelVelocity: long*,
Default: |
Kind: | in
Stereotype: |
):bool
Details: Sequential
Public CMobility( mp: CMobilityProfile*,
Default: |
Kind: | in
Stereotype: |
serial: CSerialCOM*,
Default: |
Kind: | in
Stereotype: |
):
Details: Sequential
Tags: | initializer=_mp(mp),_serial(serial)
Public ~CMobility():
Details: Sequential
Private CorrectSteerAngle( x: double,
Default: |
Kind: | in
Stereotype: |
):double
Details: Sequential
Private DeadReckoning( steerAbsEncoder: long,
Default: |
Kind: | in
Stereotype: |
rearWheelEncoder: long,
Default: |
Kind: | in
Stereotype: |
rearWheelVelocity: long,
Default: |
Kind: | in
Stereotype: |
dt: double,
Default: |
Kind: | in
Stereotype: |
):void
Details: Sequential
Public Drive( linearVel: double,
Default: |
Kind: | in
Stereotype: |
steerAngle: double,
Default: |
Kind: | in
Stereotype: |
dt: double,
Default: |
Kind: | in
Stereotype: |
linearDist: double,
Default: | 1000.
Kind: | in
Stereotype: |
):bool
Details: Sequential
Private EmptyRecvBuff():void
Details: Sequential
Private FindAndMove( packet: char*,
Default: |
Kind: | in
Stereotype: |
n: int,
Default: |
Kind: | in
Stereotype: |
command: char,
Default: |
Kind: | in
Stereotype: |
):int
Details: Sequential
Public QuickStop():bool
Details: Sequential
Public ReadEncoder( dt: double,
Default: |
Kind: | in
Stereotype: |
):bool
Details: Sequential
Private ReadMobilityEncoder( rearWheelEncoder: long*,
Default: |
Kind: | in
Stereotype: |
steerAbsEncoder: long*,
Default: |
Kind: | in
Stereotype: |
):bool
Details: Sequential
Private ReadPacket( packet: char*,
Default: |
Kind: | in
Stereotype: |
len: int,
Default: |
Kind: | in
Stereotype: |
stx_char: char,
Default: |
Kind: | in
Stereotype: |
timeout: DWORD,
Default: | 30
Kind: | in
Stereotype: |
):int
Details: Sequential

Element | Source Role | Target Role
CDeviceLock Class | Name: | Name: _lock
Details:
CMobilityProfile Class | Name: | Name: _mp
Details:
CPosture Class | Name: | Name: _posture
Details:
«typedef» DWORD Class | Name: | Name: _readTime
Details:
CPosture Class | Name: | Name: _realPosture
Details:
CSerialCOM Class | Name: | Name: _serial
Details:

Element | Source Role | Target Role
DeviceManager Class | Name: | Name: _mobility
Details: