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Rock

the Robot Construction Kit

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  • Status
controldev::GenericTask
  • doc: no documentation provided for this task context
  • subclassed from: RTT::TaskContext
  • This task does need configuration
  • States
  • EXCEPTION: toplevel
  • FATAL_ERROR: toplevel
  • INIT: toplevel
  • PRE_OPERATIONAL: toplevel
  • RUNNING: toplevel
  • RUNTIME_ERROR: toplevel
  • STOPPED: toplevel
  • No Input Ports
  • Output Ports
  • four_wheel_command: (/controldev/FourWheelCommand) command that specifies the speed for the four wheels
  • motion_command: (/base/MotionCommand2D) Port for motion command structures (translation, rotation)
  • raw_command: (/controldev/RawCommand) Port for raw command structures (composed of joystick and sliderbox values)
  • speed_command: (/base/SpeedCommand6D) Port for 6-dof speed command structures (surge, sway, heave - roll, pitch, yaw)
  • state: (/int32_t)
  • Properties
  • maxRotationSpeed: (/double) Maximum rotation speed in rad/s
  • maxSpeed: (/double) Maximum translation speed in m/s
  • minRotationSpeed: (/double) Minimum rotation speed in rad/s
  • minSpeed: (/double) Minimum translation speed in m/s
  • Operations [NOT IMPLEMENTED YET]