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structnavtypes_1_1URCLeg.html | 114 - structnavtypes_1_1URCLegGPS-members.html | 101 - structnavtypes_1_1URCLegGPS.html | 124 - structnavtypes_1_1URCLegGPS__coll__graph.map | 5 - structnavtypes_1_1URCLegGPS__coll__graph.md5 | 1 - structnavtypes_1_1URCLegGPS__coll__graph.png | Bin 6539 -> 0 bytes world__interface_8h_source.html | 123 +- 131 files changed, 10168 insertions(+), 10849 deletions(-) delete mode 100644 deprecated.html delete mode 100644 inherit_graph_63.map delete mode 100644 inherit_graph_63.md5 delete mode 100644 inherit_graph_63.png delete mode 100644 inherit_graph_64.map delete mode 100644 inherit_graph_64.md5 delete mode 100644 inherit_graph_64.png delete mode 100644 structnavtypes_1_1URCLeg-members.html delete mode 100644 structnavtypes_1_1URCLeg.html delete mode 100644 structnavtypes_1_1URCLegGPS-members.html delete mode 100644 structnavtypes_1_1URCLegGPS.html delete mode 100644 structnavtypes_1_1URCLegGPS__coll__graph.map delete mode 100644 structnavtypes_1_1URCLegGPS__coll__graph.md5 delete mode 100644 structnavtypes_1_1URCLegGPS__coll__graph.png diff --git a/annotated.html b/annotated.html index 68b6b98c2..0e0897400 100644 --- a/annotated.html +++ b/annotated.html @@ -139,8 +139,6 @@  Nnavtypes  Ceulerangles_t  Cgpscoords_tRepresents a GPS coordinate in degrees - CURCLeg - CURCLegGPS  Nnet  Nardupilot  CArduPilotProtocol diff --git a/classes.html b/classes.html index c41e4f0f1..4222a5994 100644 --- a/classes.html +++ b/classes.html @@ -82,7 +82,7 @@
Class Index
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A | B | C | D | E | F | G | H | I | J | K | L | M | N | O | P | R | S | T | U | W | X
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A | B | C | D | E | F | G | H | I | J | K | L | M | N | O | P | R | S | T | W | X
A
@@ -142,12 +142,9 @@
T
Tag (AR)
TelemReportTask (net::mc::tasks)
TrapezoidalVelocityProfile (control)
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U
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URCLeg (navtypes)
URCLegGPS (navtypes)
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W
Watchdog (util)
WebSocketProtocol (net::websocket)
wheelvel_t (kinematics)
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+
X
x264_nal_t_simple (h264encoder)
diff --git a/deprecated.html b/deprecated.html deleted file mode 100644 index e2967b64c..000000000 --- a/deprecated.html +++ /dev/null @@ -1,96 +0,0 @@ - - - - - - - -Resurgence (PY2022): Deprecated List - - - - - - - - - - - - - -
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Resurgence (PY2022) -
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Codebase for the Husky Robotics 2021-2022 rover Resurgence
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- - - - - - - - -
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Loading...
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Searching...
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No Matches
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Deprecated List
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Member robot::getLeg (int index)
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This function is probably deprecated, and will be replaced in the future.
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- - - - diff --git a/doxygen_crawl.html b/doxygen_crawl.html index e5fbb479c..55c3890fb 100644 --- a/doxygen_crawl.html +++ b/doxygen_crawl.html @@ -74,7 +74,6 @@ - @@ -175,10 +174,6 @@ - - - - diff --git a/hierarchy.html b/hierarchy.html index 282b59d09..1fd056f8c 100644 --- a/hierarchy.html +++ b/hierarchy.html @@ -171,12 +171,10 @@  Ccontrol::TrapezoidalVelocityProfile< dim >Trapezoidal velocity profile in multiple dimensions  Ccontrol::TrapezoidalVelocityProfile< 1 >  Ccontrol::TrapezoidalVelocityProfile< outputDim > - Cnavtypes::URCLeg - Cnavtypes::URCLegGPS - Cnet::websocket::WebSocketProtocolDefines a protocol which will be served at an endpoint of a server - Cnet::mc::MissionControlProtocol - Ckinematics::wheelvel_t - Ch264encoder::x264_nal_t_simple + Cnet::websocket::WebSocketProtocolDefines a protocol which will be served at an endpoint of a server + Cnet::mc::MissionControlProtocol + Ckinematics::wheelvel_t + Ch264encoder::x264_nal_t_simple
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- g -

  • getDeviceSerial() : can
  • getDeviceTelemetry() : can
  • getJointPos() : robot
  • -
  • getLeg() : robot
  • getMotor() : robot
  • getMotorPos() : robot
  • getMotorPosition() : can::motor
  • @@ -226,7 +225,6 @@

    - r -

    • readIMU() : robot
    • readIMUHeading() : robot
    • readLandmarks() : robot
    • -
    • readVisualOdomVel() : robot
    • removeDeviceTelemetryCallback() : can
    • removeLimitSwitchCallback() : can::motor
    diff --git a/namespacemembers_func.html b/namespacemembers_func.html index 06a97b66e..e3de6b92f 100644 --- a/namespacemembers_func.html +++ b/namespacemembers_func.html @@ -127,7 +127,6 @@

    - g -

    • getDeviceSerial() : can
    • getDeviceTelemetry() : can
    • getJointPos() : robot
    • -
    • getLeg() : robot
    • getMotor() : robot
    • getMotorPos() : robot
    • getMotorPosition() : can::motor
    • @@ -187,7 +186,6 @@

      - r -

      • readIMU() : robot
      • readIMUHeading() : robot
      • readLandmarks() : robot
      • -
      • readVisualOdomVel() : robot
      • removeDeviceTelemetryCallback() : can
      • removeLimitSwitchCallback() : can::motor
      diff --git a/namespacerobot.html b/namespacerobot.html index 549a5751d..966b8aa10 100644 --- a/namespacerobot.html +++ b/namespacerobot.html @@ -181,12 +181,6 @@ DataPoint< pose_t > getTruePose ()  Get the ground truth pose, if available.
        -DataPoint< pose_t > readVisualOdomVel () - Calculate the current pose velocity (in the robot's reference frame) using visual odometry.
      -  -URCLeg getLeg (int index) - Get the URC leg of the given index.
      void setMotorPower (motorid_t motor, double normalizedPWM)   @@ -247,9 +241,6 @@ types::DataPoint< navtypes::Vectord< N > > getMotorPositionsRad (const std::array< types::motorid_t, N > &motors)  Get the positions in radians of multiple motors at the same time.
        - -void zeroJoint (robot::types::jointid_t joint) -  @@ -439,33 +430,6 @@

      Returns
      the position of the joint specified by the jointid_t argument joint, in millidegrees.
      - - -
      -

      ◆ getLeg()

      - -
      -
      -

      Variables

      - - - - - - -
      navtypes::URCLeg robot::getLeg (int index)
      -
      - -

      Get the URC leg of the given index.

      -
      Parameters
      - - -
      indexThe index of the URC leg, in the range [0, 6]
      -
      -
      -
      Returns
      navtypes::URCLeg Information for the URC leg of the given index.
      -
      Deprecated
      This function is probably deprecated, and will be replaced in the future.
      -
      @@ -761,26 +725,6 @@

      Returns
      DataPoint<points_t> A vector of fixed lengths. Non-visible markers are denoted with {0,0,0}, while all nonzero points are visible marker. The index of a landmark in this vector is its id.
      - - -
      -

      ◆ readVisualOdomVel()

      - -
      -
      - - - - - - - -
      types::DataPoint< navtypes::pose_t > robot::readVisualOdomVel ()
      -
      - -

      Calculate the current pose velocity (in the robot's reference frame) using visual odometry.

      -
      Returns
      types::DataPoint<navtypes::pose_t> The current velocity in each axis of the pose vector, or an empty data point if no data is available.
      -
      diff --git a/navtypes_8h_source.html b/navtypes_8h_source.html index 14bd7f49f..d4acbc66e 100644 --- a/navtypes_8h_source.html +++ b/navtypes_8h_source.html @@ -119,50 +119,26 @@
      26};
      27
      -
      28/* Obstacles are specifed as a list of 2D vertices. Must be convex.
      -
      29 * Do not repeat the starting vertex at the end. */
      -
      30using obstacle_t = Eigen::ArrayX2d;
      - -
      32
      -
      33using pose_t = Eigen::Vector3d; // Robot pose: x, y, theta
      -
      34using transform_t = Eigen::Matrix3d; // a pose in matrix form; see toPose below
      - -
      36
      -
      37template <int rows, int cols> using Matrixd = Eigen::Matrix<double, rows, cols>;
      -
      38
      -
      39template <int dim> using Vectord = Eigen::Matrix<double, dim, 1>;
      -
      40
      -
      41template <int dim, int dim2 = 1> using Arrayd = Eigen::Array<double, dim, dim2>;
      +
      28using pose_t = Eigen::Vector3d; // Robot pose: x, y, theta
      +
      29using transform_t = Eigen::Matrix3d; // a pose in matrix form; see toPose below
      + +
      31
      +
      32template <int rows, int cols> using Matrixd = Eigen::Matrix<double, rows, cols>;
      +
      33
      +
      34template <int dim> using Vectord = Eigen::Matrix<double, dim, 1>;
      +
      35
      +
      36template <int dim, int dim2 = 1> using Arrayd = Eigen::Array<double, dim, dim2>;
      +
      37
      +
      38using point_t =
      +
      39 Eigen::Vector3d; // x, y, 1 (or 0, 0, 0 to represent "no data")
      +
      40 // The 1 at the end makes calculating affine transforms easier.
      +
      42
      -
      43using point_t =
      -
      44 Eigen::Vector3d; // x, y, 1 (or 0, 0, 0 to represent "no data")
      -
      45 // The 1 at the end makes calculating affine transforms easier.
      - -
      47using traj_points_t = std::vector<points_t>; // points_t for each time along a trajectory
      -
      48
      -
      -
      49struct URCLeg {
      -
      50 int left_post_id;
      -
      51 int right_post_id; // This will be -1 for legs that are just single posts
      -
      52 point_t approx_GPS;
      -
      53};
      -
      -
      54
      -
      -
      55struct URCLegGPS {
      -
      56 int left_post_id;
      -
      57 int right_post_id;
      -
      58 gpscoords_t gps;
      -
      59};
      -
      -
      60
      -
      61} // namespace navtypes
      +
      43} // namespace navtypes
      -
      Definition navtypes.h:55
      -
      Definition navtypes.h:49
      Definition navtypes.h:22
      Represents a GPS coordinate in degrees.
      Definition navtypes.h:10
      double lat
      the latitude of the gps coordinate, in degrees
      Definition navtypes.h:12
      diff --git a/pages.html b/pages.html index fcecded79..801c0eb16 100644 --- a/pages.html +++ b/pages.html @@ -86,7 +86,6 @@ -
       Camera Configuration
       Style Guide
       Deprecated List
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      -gpscoords_t gps
       
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      164
      172std::optional<navtypes::point_t> gpsToMeters(const navtypes::gpscoords_t& coord);
      173
      -
      181types::DataPoint<navtypes::pose_t> readVisualOdomVel();
      -
      182
      -
      191navtypes::URCLeg getLeg(int index);
      -
      192
      - -
      199
      -
      206void setMotorPower(robot::types::motorid_t motor, double power);
      -
      207
      -
      216void setMotorPos(robot::types::motorid_t motor, int32_t targetPos);
      -
      217
      -
      224void setMotorVel(robot::types::motorid_t motor, int32_t targetVel);
      -
      225
      -
      234types::DataPoint<int32_t> getMotorPos(robot::types::motorid_t motor);
      + +
      180
      +
      187void setMotorPower(robot::types::motorid_t motor, double power);
      +
      188
      +
      197void setMotorPos(robot::types::motorid_t motor, int32_t targetPos);
      +
      198
      +
      205void setMotorVel(robot::types::motorid_t motor, int32_t targetVel);
      +
      206
      +
      215types::DataPoint<int32_t> getMotorPos(robot::types::motorid_t motor);
      +
      216
      +
      217using callbackid_t = unsigned long long;
      +
      218
      +
      219callbackid_t addLimitSwitchCallback(
      + +
      221 const std::function<void(
      + + +
      224
      +
      225void removeLimitSwitchCallback(callbackid_t id);
      +
      226
      +
      227// TODO: document
      +
      228void setJointPower(robot::types::jointid_t joint, double power);
      +
      229
      +
      234void setJointPos(robot::types::jointid_t joint, int32_t targetPos);
      235
      -
      236using callbackid_t = unsigned long long;
      -
      237
      -
      238callbackid_t addLimitSwitchCallback(
      - -
      240 const std::function<void(
      - - -
      243
      -
      244void removeLimitSwitchCallback(callbackid_t id);
      -
      245
      -
      246// TODO: document
      -
      247void setJointPower(robot::types::jointid_t joint, double power);
      -
      248
      -
      253void setJointPos(robot::types::jointid_t joint, int32_t targetPos);
      -
      254
      -
      260types::DataPoint<int32_t> getJointPos(robot::types::jointid_t joint);
      -
      261
      -
      273template <unsigned long int N>
      -
      274types::DataPoint<navtypes::Vectord<N>>
      -
      - -
      276 navtypes::Vectord<N> motorPositions;
      -
      277 std::optional<types::datatime_t> timestamp;
      -
      278 for (size_t i = 0; i < motors.size(); i++) {
      -
      279 types::DataPoint<int32_t> positionDataPoint = robot::getMotorPos(motors[i]);
      -
      280 if (positionDataPoint.isValid()) {
      -
      281 if (!timestamp.has_value() || timestamp > positionDataPoint.getTime()) {
      -
      282 timestamp = positionDataPoint.getTime();
      -
      283 }
      -
      284 double position = static_cast<double>(positionDataPoint.getData());
      -
      285 position *= M_PI / 180.0 / 1000.0;
      -
      286 motorPositions(i) = position;
      -
      287 } else {
      -
      288 return {};
      -
      289 }
      -
      290 }
      -
      291 return types::DataPoint<navtypes::Vectord<N>>(timestamp.value(), motorPositions);
      -
      292}
      +
      241types::DataPoint<int32_t> getJointPos(robot::types::jointid_t joint);
      +
      242
      +
      254template <unsigned long int N>
      +
      255types::DataPoint<navtypes::Vectord<N>>
      +
      + +
      257 navtypes::Vectord<N> motorPositions;
      +
      258 std::optional<types::datatime_t> timestamp;
      +
      259 for (size_t i = 0; i < motors.size(); i++) {
      +
      260 types::DataPoint<int32_t> positionDataPoint = robot::getMotorPos(motors[i]);
      +
      261 if (positionDataPoint.isValid()) {
      +
      262 if (!timestamp.has_value() || timestamp > positionDataPoint.getTime()) {
      +
      263 timestamp = positionDataPoint.getTime();
      +
      264 }
      +
      265 double position = static_cast<double>(positionDataPoint.getData());
      +
      266 position *= M_PI / 180.0 / 1000.0;
      +
      267 motorPositions(i) = position;
      +
      268 } else {
      +
      269 return {};
      +
      270 }
      +
      271 }
      +
      272 return types::DataPoint<navtypes::Vectord<N>>(timestamp.value(), motorPositions);
      +
      273}
      -
      293
      -
      294// TODO: document
      -
      295void zeroJoint(robot::types::jointid_t joint);
      -
      296} // namespace robot
      -
      297
      -
      298namespace gps {
      - -
      307} // namespace gps
      +
      274
      +
      275} // namespace robot
      +
      276
      +
      277namespace gps {
      + +
      286} // namespace gps
      @@ -246,22 +240,19 @@
      std::unordered_set< CameraID > getCameras()
      Get the IDs of the currently supported cameras.
      Definition real_world_interface.cpp:162
      std::shared_ptr< robot::base_motor > getMotor(robot::types::motorid_t motor)
      Get a pointer to the motor object associated with the motor id.
      Definition noop_world.cpp:32
      void world_interface_init(bool initMotorsOnly)
      Initialize the world interface.
      Definition noop_world.cpp:30
      -
      DataPoint< pose_t > readVisualOdomVel()
      Calculate the current pose velocity (in the robot's reference frame) using visual odometry.
      Definition noop_world.cpp:50
      -
      types::DataPoint< navtypes::Vectord< N > > getMotorPositionsRad(const std::array< types::motorid_t, N > &motors)
      Get the positions in radians of multiple motors at the same time.
      Definition world_interface.h:275
      -
      void setMotorVel(robot::types::motorid_t motor, int32_t targetVel)
      Sets the velocity of the given motor.
      Definition noop_world.cpp:66
      +
      types::DataPoint< navtypes::Vectord< N > > getMotorPositionsRad(const std::array< types::motorid_t, N > &motors)
      Get the positions in radians of multiple motors at the same time.
      Definition world_interface.h:256
      +
      void setMotorVel(robot::types::motorid_t motor, int32_t targetVel)
      Sets the velocity of the given motor.
      Definition noop_world.cpp:58
      WorldInterface
      An enum which defines the possible types of world interfaces.
      Definition world_interface.h:32
      double setCmdVel(double dtheta, double dx)
      Request the robot to drive at the given velocities.
      Definition kinematic_common_interface.cpp:34
      void emergencyStop()
      Emergency stop all motors.
      Definition noop_world.cpp:36
      -
      URCLeg getLeg(int)
      Get the URC leg of the given index.
      Definition noop_world.cpp:54
      DataPoint< double > readIMUHeading()
      Read the current heading in the global map frame based on an IMU measurement.
      Definition gps_common_interface.cpp:14
      std::optional< cv::Mat > getCameraExtrinsicParams(CameraID cameraID)
      Get the extrinsic params of the specified camera, if it exists.
      Definition real_world_interface.cpp:206
      bool gpsHasFix()
      Check if the GPS sensor has acquired a fix.
      Definition gps_common_interface.cpp:44
      landmarks_t readLandmarks()
      Read measurement from the CV system.
      Definition noop_world.cpp:38
      const WorldInterface WORLD_INTERFACE
      The current world interface being used.
      Definition real_world_interface.cpp:30
      std::optional< point_t > gpsToMeters(const gpscoords_t &coord)
      Convert GPS coordinates into a coordinate on the map frame.
      Definition gps_common_interface.cpp:36
      -
      types::DataPoint< int32_t > getMotorPos(robot::types::motorid_t motor)
      Get the last reported position of the specified motor.
      Definition noop_world.cpp:62
      -
      void setIndicator(indication_t signal)
      Set the robot indicator to indicate the given signal.
      Definition noop_world.cpp:68
      -
      Definition navtypes.h:49
      +
      types::DataPoint< int32_t > getMotorPos(robot::types::motorid_t motor)
      Get the last reported position of the specified motor.
      Definition noop_world.cpp:54
      +
      void setIndicator(indication_t signal)
      Set the robot indicator to indicate the given signal.
      Definition noop_world.cpp:60
      Represents a GPS coordinate in degrees.
      Definition navtypes.h:10