okapi::OdomChassisController class
#include <include/okapi/api/chassis/controller/odomChassisController.hpp>

Contents

Base classes

class ChassisController

Derived classes

class DefaultOdomChassisController

Constructors, destructors, conversion operators

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&) deleted
OdomChassisController(OdomChassisController&& other) deleted

Public functions

auto operator=(const OdomChassisController& other) -> OdomChassisController& deleted
auto operator=(OdomChassisController&& other) -> OdomChassisController& deleted
void driveToPoint(const Point& ipoint, bool ibackwards = false, const QLength& ioffset = 0_mm) pure virtual
Drives the robot straight to a point in the odom frame.
void turnToPoint(const Point& ipoint) pure virtual
Turns the robot to face a point in the odom frame.
void turnToAngle(const QAngle& iangle) pure virtual
Turns the robot to face an angle in the odom frame.
auto getState() const -> OdomState virtual
void setState(const OdomState& istate) virtual
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.
void setMoveThreshold(const QLength& imoveThreshold) virtual
Set a new move threshold.
void setTurnThreshold(const QAngle& iturnTreshold) virtual
Set a new turn threshold.
auto getMoveThreshold() const -> QLength virtual
auto getTurnThreshold() const -> QAngle virtual
void startOdomThread()
Starts the internal odometry thread.
auto getOdomThread() const -> CrossplatformThread*
auto getOdometry() -> std::shared_ptr<Odometry>

Protected static functions

static void trampoline(void* context)

Protected functions

void loop()

Protected variables

std::shared_ptr<Logger> logger
TimeUtil timeUtil
QLength moveThreshold
QAngle turnThreshold
std::shared_ptr<Odometry> odom
CrossplatformThread* odomTask
std::atomic_bool dtorCalled
StateMode defaultStateMode
std::atomic_bool odomTaskRunning

Function documentation

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.

Parameters
itimeUtil The TimeUtil.
iodometry The Odometry instance to run in a new task.
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

Starts task at the default for odometry when constructed, which calls Odometry::step every 10ms. The default StateMode is StateMode::FRAME_TRANSFORMATION.

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.

void okapi::OdomChassisController::driveToPoint(const Point& ipoint, bool ibackwards = false, const QLength& ioffset = 0_mm) pure virtual

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.

void okapi::OdomChassisController::turnToPoint(const Point& ipoint) pure virtual

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

Parameters
ipoint The target point to turn to face.

void okapi::OdomChassisController::turnToAngle(const QAngle& iangle) pure virtual

Turns the robot to face an angle in the odom frame.

Parameters
iangle The angle to turn to.

OdomState okapi::OdomChassisController::getState() const virtual

Returns The current state.

void okapi::OdomChassisController::setState(const OdomState& istate) virtual

Set a new state to be the current state.

Parameters
istate The new state in the given format.

The default StateMode is StateMode::FRAME_TRANSFORMATION.

void okapi::OdomChassisController::setDefaultStateMode(const StateMode& imode)

Sets a default StateMode that will be used to interpret target points and query the Odometry state.

Parameters
imode The new default StateMode.

void okapi::OdomChassisController::setMoveThreshold(const QLength& imoveThreshold) virtual

Set a new move threshold.

Parameters
imoveThreshold new move threshold

Any requested movements smaller than this threshold will be skipped.

void okapi::OdomChassisController::setTurnThreshold(const QAngle& iturnTreshold) virtual

Set a new turn threshold.

Parameters
iturnTreshold new turn threshold

Any requested turns smaller than this threshold will be skipped.

QLength okapi::OdomChassisController::getMoveThreshold() const virtual

Returns The current move threshold.

QAngle okapi::OdomChassisController::getTurnThreshold() const virtual

Returns The current turn threshold.

void okapi::OdomChassisController::startOdomThread()

Starts the internal odometry thread.

This should not be called by normal users.

CrossplatformThread* okapi::OdomChassisController::getOdomThread() const

Returns The underlying thread handle.

std::shared_ptr<Odometry> okapi::OdomChassisController::getOdometry()

Returns The internal odometry.