| Created: | 2015-07-31 오후 4:10:03 |
| Modified: | 2015-07-31 오후 4:10:03 |
Project: |
|
Advanced: |
|
| Attribute | ||
|
Public int _controlMode |
||
Details:
|
||
|
Public double _curLinearPos |
||
Details:
|
||
|
Public double _curLinearVel |
||
Details:
|
||
|
Public double _curSteerAngle |
||
Details:
|
||
|
Public double _linearVel |
||
Details:
|
||
|
Private CDeviceLock _lock |
||
Details:
|
||
|
Private CMobilityProfile* _mp |
||
Details:
|
||
|
Public CPosture _posture |
||
Details:
|
||
|
Public DWORD _readTime |
||
Details:
|
||
|
Public CPosture _realPosture |
||
Details:
|
||
|
Public long _realRearWheelEncoder |
||
Details:
|
||
|
Public long _realSteerAbsEncoder |
||
Details:
|
||
|
Private long _rearWheelEncoderPrev |
||
Details:
|
||
|
Private CSerialCOM* _serial |
||
Details:
|
||
|
Private long _steerAbsEncoderPrev |
||
Details:
|
||
|
Public double _steerAngle |
||
Details:
|
| Operation | ||
|
Private CalcNextPosition( currentPos: double,
desiredPos: double,
maxPos: double,
vel: double,
dt: double,
|
||
Details:
Sequential
|
||
|
Private CalcNextVelocity( remainDist: double,
currentVel: double,
desiredVel: double,
maxVel: double,
accel: double,
dt: double,
|
||
Details:
Sequential
|
||
|
Private CmdDrive( rearWheelVel: long,
steerAngle: long,
|
||
Details:
Sequential
|
||
|
Private CmdNull():void |
||
Details:
Sequential
|
||
|
Private CmdReadStatus( mode: int*,
steerAbsEncoder: long*,
rearWheelEncoder: long*,
rearWheelVelocity: long*,
|
||
Details:
Sequential
|
||
|
Public CMobility( mp: CMobilityProfile*,
serial: CSerialCOM*,
|
||
Details:
Sequential
|
||
|
Public ~CMobility(): |
||
Details:
Sequential
|
||
|
Private CorrectSteerAngle( x: double,
|
||
Details:
Sequential
|
||
|
Private DeadReckoning( steerAbsEncoder: long,
rearWheelEncoder: long,
rearWheelVelocity: long,
dt: double,
|
||
Details:
Sequential
|
||
|
Public Drive( linearVel: double,
steerAngle: double,
dt: double,
linearDist: double,
|
||
Details:
Sequential
|
||
|
Private EmptyRecvBuff():void |
||
Details:
Sequential
|
||
|
Private FindAndMove( packet: char*,
n: int,
command: char,
|
||
Details:
Sequential
|
||
|
Public QuickStop():bool |
||
Details:
Sequential
|
||
|
Public ReadEncoder( dt: double,
|
||
Details:
Sequential
|
||
|
Private ReadMobilityEncoder( rearWheelEncoder: long*,
steerAbsEncoder: long*,
|
||
Details:
Sequential
|
||
|
Private ReadPacket( packet: char*,
len: int,
stx_char: char,
timeout: DWORD,
|
||
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:
|
||