openjaus::mobility::VelocityStateDriverInterface Class Reference

Provides an abstract interface for the VelocityStateDriver service. More...

#include <VelocityStateDriverInterface.h>

Inherited by openjaus::mobility::VelocityStateDriver.

List of all members.

Public Member Functions
virtual	~VelocityStateDriverInterface ()
virtual void	resetCmdVelocityToDefault ()=0
virtual ReportVelocityCommand	getReportVelocityCommand (QueryVelocityCommand *queryVelocityCommand)=0
	Send action for ReportVelocityCommand with input message QueryVelocityCommand.
virtual ReportAccelerationLimit	getReportAccelerationLimit (QueryAccelerationLimit *queryAccelerationLimit)=0
	Send action for ReportAccelerationLimit with input message QueryAccelerationLimit.
virtual bool	setCurrentVelocityCommand (SetVelocityCommand *setVelocityCommand)=0
	SetCurrentVelocityCommand action with input SetVelocityCommand.
virtual bool	setVelocityLimit (SetVelocityCommand *setVelocityCommand)=0
	SetVelocityLimit action with input SetVelocityCommand.
virtual bool	setAccelerationLimit (SetAccelerationLimit *setAccelerationLimit)=0
	SetAccelerationLimit action with input SetAccelerationLimit.
virtual bool	isControllingVsdClient (SetVelocityCommand *setVelocityCommand)=0
	isControllingVsdClient condition.
virtual bool	isControllingVsdClient (SetAccelerationLimit *setAccelerationLimit)=0
	isControllingVsdClient condition.
virtual bool	isCurrentVelocityCmd (SetVelocityCommand *setVelocityCommand)=0
	isCurrentVelocityCmd condition.

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Detailed Description

The Velocity State Driver allows for low level control of platform mobility. This service does not imply any particular platform type such as tracked or wheeled, but describes mobility in six degrees of freedom using velocity commands relative to the vehicle’s coordinate system. The function of the Velocity State Driver service is to control the desired linear and angular velocity of a mobile platform. The Velocity State Driver takes the desired velocity as measured with respect to the vehicle coordinate system.

URI: urn:jaus:jss:mobility:VelocityStateDriver

Version: 1.0

Inherits From:

• urn:jaus:jss:core:Management

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Constructor & Destructor Documentation

virtual openjaus::mobility::VelocityStateDriverInterface::~VelocityStateDriverInterface

(

)

[inline, virtual]

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Member Function Documentation

virtual ReportAccelerationLimit openjaus::mobility::VelocityStateDriverInterface::getReportAccelerationLimit

(

QueryAccelerationLimit *

queryAccelerationLimit

)

[pure virtual]

Send action for ReportAccelerationLimit with input message QueryAccelerationLimit.

Parameters:

[in]

queryAccelerationLimit

- Input Trigger.

Returns:

ReportAccelerationLimit Output Message.

Implemented in openjaus::mobility::VelocityStateDriver.

virtual ReportVelocityCommand openjaus::mobility::VelocityStateDriverInterface::getReportVelocityCommand

(

QueryVelocityCommand *

queryVelocityCommand

)

[pure virtual]

Send action for ReportVelocityCommand with input message QueryVelocityCommand.

Parameters:

[in]

queryVelocityCommand

- Input Trigger.

Returns:

ReportVelocityCommand Output Message.

Implemented in openjaus::mobility::VelocityStateDriver.

virtual bool openjaus::mobility::VelocityStateDriverInterface::isControllingVsdClient

(

SetAccelerationLimit *

setAccelerationLimit

)

[pure virtual]

isControllingVsdClient condition.

Parameters:

[in]

setAccelerationLimit

- Input Trigger.

Returns:

Whether the condition is true.

Implemented in openjaus::mobility::VelocityStateDriver.

virtual bool openjaus::mobility::VelocityStateDriverInterface::isControllingVsdClient

(

SetVelocityCommand *

setVelocityCommand

)

[pure virtual]

isControllingVsdClient condition.

Parameters:

[in]

setVelocityCommand

- Input Trigger.

Returns:

Whether the condition is true.

Implemented in openjaus::mobility::VelocityStateDriver.

virtual bool openjaus::mobility::VelocityStateDriverInterface::isCurrentVelocityCmd

(

SetVelocityCommand *

setVelocityCommand

)

[pure virtual]

isCurrentVelocityCmd condition.

Parameters:

[in]

setVelocityCommand

- Input Trigger.

Returns:

Whether the condition is true.

Implemented in openjaus::mobility::VelocityStateDriver.

virtual void openjaus::mobility::VelocityStateDriverInterface::resetCmdVelocityToDefault

(

)

[pure virtual]

Implemented in openjaus::mobility::VelocityStateDriver.

virtual bool openjaus::mobility::VelocityStateDriverInterface::setAccelerationLimit

(

SetAccelerationLimit *

setAccelerationLimit

)

[pure virtual]

SetAccelerationLimit action with input SetAccelerationLimit.

Parameters:

[in]

setAccelerationLimit

- Input Trigger.

Returns:

Whether the message was properly processed by this action.

Implemented in openjaus::mobility::VelocityStateDriver.

virtual bool openjaus::mobility::VelocityStateDriverInterface::setCurrentVelocityCommand

(

SetVelocityCommand *

setVelocityCommand

)

[pure virtual]

SetCurrentVelocityCommand action with input SetVelocityCommand.

Parameters:

[in]

setVelocityCommand

- Input Trigger.

Returns:

Whether the message was properly processed by this action.

Implemented in openjaus::mobility::VelocityStateDriver.

virtual bool openjaus::mobility::VelocityStateDriverInterface::setVelocityLimit

(

SetVelocityCommand *

setVelocityCommand

)

[pure virtual]

SetVelocityLimit action with input SetVelocityCommand.

Parameters:

[in]

setVelocityCommand

- Input Trigger.

Returns:

Whether the message was properly processed by this action.

Implemented in openjaus::mobility::VelocityStateDriver.

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

• include/openjaus/mobility/VelocityStateDriverInterface.h