Vehicle< MotorT > Class Template Reference

Abstract base class for all vehicle types. More...

#include <Vehicle.h>

Inheritance diagram for Vehicle< MotorT >:

Collaboration diagram for Vehicle< MotorT >:

Public Member Functions
bool	begin ()
	Initialize the vehicle.
virtual void	end ()=0
	Reset the vehicle to a safe or neutral state (pure virtual).
virtual bool	isPinsSet () const =0
	Check if the necessary pins for the vehicle's actuators have been set (pure virtual).
virtual std::vector< MessageContent >	getControls () const =0
float	getSpeedFactor () const
	Get the speed factor (scaling for speed commands).
void	setSpeedFactor (float factor)
	Set the speed factor (scaling for speed commands).
virtual std::vector< IMotor< MotorT > * >	getMotors ()=0
Public Member Functions inherited from MessageHandler
virtual bool	onMessage (const Message< float > &msg)=0
	Handle an incoming message (pure virtual).
virtual bool	onMessage (const Message< Coordinate< float > > &msg)
virtual bool	onMessage (const Message< GPSCoordinate > &msg)
virtual bool	onMessage (const Message< MotionState3D > &msg)
Public Member Functions inherited from MessageSource
void	subscribe (MessageHandler &handler, MessageOrigin origin=MessageOrigin::Undefined, MessageContent content=MessageContent::Undefined)
	Subscribe a message handler to this source, with optional filtering.
void	unsubscribeAll ()
	Remove all registered message handlers.
void	sendMessage (Message< float > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< Coordinate< float > > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< GPSCoordinate > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< MotionState3D > &msg)
	Overload for MotionState3D messages.

Protected Attributes
float	speedFactor_ = 1.0f
Protected Attributes inherited from MessageSource
std::vector< MessageHandlerEntry >	messageHandlers_

Detailed Description

template<typename MotorT = float>
class tinyrobotics::Vehicle< MotorT >

Abstract base class for all vehicle types.

The Vehicle class defines a common interface for all robotic vehicles in the library. It enforces the implementation of a reset() method, which should reset the vehicle's actuators and internal state to a safe or neutral configuration.

All vehicle classes (e.g., Car4WD, Quadrotor, AirPlane, MotorBoat) should inherit from Vehicle.

Member Function Documentation

begin()

bool begin ( )

inline

Initialize the vehicle.

Returns

true

false

end()

virtual void end ( )

pure virtual

Reset the vehicle to a safe or neutral state (pure virtual).

Implemented in AirPlane< T, MotorMT, ServoMT >, MotorBoat< T, MotorMT, ServoMT >, CarAckerman< T, MotorMT, ServoMT >, CarDifferential< N, T, MotorMT >, and Quadrotor< T, DriverT >.

isPinsSet()

virtual bool isPinsSet ( ) const

pure virtual

Check if the necessary pins for the vehicle's actuators have been set (pure virtual).

Implemented in AirPlane< T, MotorMT, ServoMT >, CarAckerman< T, MotorMT, ServoMT >, CarDifferential< N, T, MotorMT >, MotorBoat< T, MotorMT, ServoMT >, and Quadrotor< T, DriverT >.

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

• src/TinyRobotics/vehicles/Vehicle.h