A Base is the platform that the other parts of a mobile robot attach to. More...

#include "components/base.hpp"

Inheritance diagram for viam::sdk::Base:

Classes
struct	properties
	Information about the physical base. More...

Public Member Functions
void	move_straight (int64_t distance_mm, double mm_per_sec)
	Move a robot's base in a straight line by a given distance. This method blocks until completed or cancelled.

virtual void	move_straight (int64_t distance_mm, double mm_per_sec, const ProtoStruct &extra)=0
	Move a robot's base in a straight line by a given distance. This method blocks until completed or cancelled.

void	spin (double angle_deg, double degs_per_sec)
	Spins a robot's base by an given angle, expressed in degrees. This method blocks until completed or cancelled.

virtual void	spin (double angle_deg, double degs_per_sec, const ProtoStruct &extra)=0
	Spins a robot's base by an given angle, expressed in degrees. This method blocks until completed or cancelled.

void	set_power (const Vector3 &linear, const Vector3 &angular)
	Sets the linear and angular power of a base -1 -> 1 in terms of power for each direction.

virtual void	set_power (const Vector3 &linear, const Vector3 &angular, const ProtoStruct &extra)=0
	Sets the linear and angular power of a base -1 -> 1 in terms of power for each direction.

void	set_velocity (const Vector3 &linear, const Vector3 &angular)
	Set the linear and angular velocity of a base.

virtual void	set_velocity (const Vector3 &linear, const Vector3 &angular, const ProtoStruct &extra)=0
	Set the linear and angular velocity of a base.

virtual bool	is_moving ()=0
	Reports if the base is in motion.

properties	get_properties ()
	Returns physical properties of the base (width, turning radius, wheel circumference)

virtual properties	get_properties (const ProtoStruct &extra)=0
	Returns physical properties of the base (width, turning radius, wheel circumference)

virtual ProtoStruct	do_command (const ProtoStruct &command)=0
	Send/receive arbitrary commands to the resource.

std::vector< GeometryConfig >	get_geometries ()
	Returns `GeometryConfig`s associated with the calling base.

virtual std::vector< GeometryConfig >	get_geometries (const ProtoStruct &extra)=0
	Returns `GeometryConfig`s associated with the calling base.

API	api () const override
	Returns the `API` associated with a particular resource.

Public Member Functions inherited from viam::sdk::Component
Name	get_resource_name () const override
	Returns the `Name` for a particular resource.

Public Member Functions inherited from viam::sdk::Resource
	Resource (std::string name)

virtual std::string	name () const
	Return the resource's name.

Public Member Functions inherited from viam::sdk::Stoppable
virtual void	stop (const ProtoStruct &extra)=0
	Stops a resource from running.

void	stop ()
	Stops a resource from running.

Protected Member Functions
	Base (std::string name)

Protected Member Functions inherited from viam::sdk::Component
	Component (std::string name)

Protected Member Functions inherited from viam::sdk::Resource
Name	get_resource_name (const std::string &type) const

Friends
std::ostream &	operator<< (std::ostream &os, const properties &v)

bool	operator== (const properties &lhs, const properties &rhs)

Additional Inherited Members
Static Public Member Functions inherited from viam::sdk::Stoppable
static void	stop_if_stoppable (const std::shared_ptr< Resource > &resource, const ProtoStruct &extra)
	Stops a Resource if it is Stoppable.

static void	stop_if_stoppable (const std::shared_ptr< Resource > &resource)
	Stops a Resource if it is Stoppable.

Detailed Description

A Base is the platform that the other parts of a mobile robot attach to.

This acts as an abstract parent class to be inherited from by any drivers representing specific base implementations. This class cannot be used on its own.

Member Function Documentation

◆ api()

API viam::sdk::Base::api ( ) const

overridevirtual

Returns the API associated with a particular resource.

Implements viam::sdk::Resource.

◆ do_command()

virtual ProtoStruct viam::sdk::Base::do_command ( const ProtoStruct & command )

pure virtual

Send/receive arbitrary commands to the resource.

Parameters

Command the command to execute.

Returns: The result of the executed command.

Implemented in MyBase, and viam::sdk::impl::BaseClient.

◆ get_geometries() [1/2]

std::vector< GeometryConfig > viam::sdk::Base::get_geometries ( )

inline

Returns GeometryConfigs associated with the calling base.

Returns: The requested GeometryConfigs associated with the component.

◆ get_geometries() [2/2]

virtual std::vector< GeometryConfig > viam::sdk::Base::get_geometries ( const ProtoStruct & extra )

pure virtual

Returns GeometryConfigs associated with the calling base.

Parameters

extra Any additional arguments to the method.

Returns: The requested GeometryConfigs associated with the component.

Implemented in MyBase, viam::sdk::impl::BaseClient, and viam::sdk::impl::BaseClient.

◆ get_properties()

virtual properties viam::sdk::Base::get_properties ( const ProtoStruct & extra )

pure virtual

Returns physical properties of the base (width, turning radius, wheel circumference)

Parameters

extra Any additional arguments to the method

Implemented in MyBase, viam::sdk::impl::BaseClient, and viam::sdk::impl::BaseClient.

◆ is_moving()

virtual bool viam::sdk::Base::is_moving ( )

pure virtual

Reports if the base is in motion.

Implemented in MyBase, and viam::sdk::impl::BaseClient.

◆ move_straight() [1/2]

void viam::sdk::Base::move_straight	(	int64_t	distance_mm,
		double	mm_per_sec )

inline

Move a robot's base in a straight line by a given distance. This method blocks until completed or cancelled.

Parameters

distance_mm	Desired travel distance in millimeters
mm_per_sec	Desired travel velocity in millimeters/second

◆ move_straight() [2/2]

virtual void viam::sdk::Base::move_straight	(	int64_t	distance_mm,
		double	mm_per_sec,
		const ProtoStruct &	extra )

pure virtual

Move a robot's base in a straight line by a given distance. This method blocks until completed or cancelled.

Parameters

distance_mm	Desired travel distance in millimeters
mm_per_sec	Desired travel velocity in millimeters/second
extra	Any additional arguments to the method

Implemented in MyBase, viam::sdk::impl::BaseClient, and viam::sdk::impl::BaseClient.

◆ set_power() [1/2]

void viam::sdk::Base::set_power	(	const Vector3 &	linear,
		const Vector3 &	angular )

inline

Sets the linear and angular power of a base -1 -> 1 in terms of power for each direction.

Parameters

linear	Desired linear power percentage (-1 <= % <= 1) for each direction
angular	Desired angular power percentage (-1 <= % <= 1) for each direction

◆ set_power() [2/2]

virtual void viam::sdk::Base::set_power	(	const Vector3 &	linear,
		const Vector3 &	angular,
		const ProtoStruct &	extra )

pure virtual

Sets the linear and angular power of a base -1 -> 1 in terms of power for each direction.

Parameters

linear	Desired linear power percentage (-1 <= % <= 1) for each direction
angular	Desired angular power percentage (-1 <= % <= 1) for each direction
extra	Any additional arguments to the method

Implemented in MyBase, viam::sdk::impl::BaseClient, and viam::sdk::impl::BaseClient.

◆ set_velocity() [1/2]

void viam::sdk::Base::set_velocity	(	const Vector3 &	linear,
		const Vector3 &	angular )

inline

Set the linear and angular velocity of a base.

Parameters

linear	Desired linear velocity in mm per second for each direction
angular	Desired angular velocity in degrees per second for each direction

◆ set_velocity() [2/2]

virtual void viam::sdk::Base::set_velocity	(	const Vector3 &	linear,
		const Vector3 &	angular,
		const ProtoStruct &	extra )

pure virtual

Set the linear and angular velocity of a base.

Parameters

linear	Desired linear velocity in mm per second for each direction
angular	Desired angular velocity in degrees per second for each direction
extra	Any additional arguments to the method

Implemented in MyBase, viam::sdk::impl::BaseClient, and viam::sdk::impl::BaseClient.

◆ spin() [1/2]

void viam::sdk::Base::spin	(	double	angle_deg,
		double	degs_per_sec )

inline

Spins a robot's base by an given angle, expressed in degrees. This method blocks until completed or cancelled.

Parameters

angle_deg	Desired angle
degs_per_sec	Desired angular velocity

◆ spin() [2/2]

virtual void viam::sdk::Base::spin	(	double	angle_deg,
		double	degs_per_sec,
		const ProtoStruct &	extra )

pure virtual

Spins a robot's base by an given angle, expressed in degrees. This method blocks until completed or cancelled.

Parameters

angle_deg	Desired angle
degs_per_sec	Desired angular velocity
extra	Any additional arguments to the method

Implemented in MyBase, viam::sdk::impl::BaseClient, and viam::sdk::impl::BaseClient.

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

src/viam/sdk/components/base.hpp

Classes

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ api()

◆ do_command()

◆ get_geometries() [1/2]

◆ get_geometries() [2/2]

◆ get_properties()

◆ is_moving()

◆ move_straight() [1/2]

◆ move_straight() [2/2]

◆ set_power() [1/2]

◆ set_power() [2/2]

◆ set_velocity() [1/2]

◆ set_velocity() [2/2]

◆ spin() [1/2]

◆ spin() [2/2]