ArBumpers Class Reference
#include <ArBumpers.h>
Inheritance diagram for ArBumpers:
List of all members.
Detailed Description
A class that treats the robot's bumpers as a range device.
The class treats bumpers like a range device. When a bumper is bumped, it reports the approximate position of the bump in a buffer. The positions are kept current for a specified length of time.
Definition at line 40 of file ArBumpers.h.
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Public Member Functions |
| void | addBumpToBuffer (int bumpValue, int whichBumper) |
| | ArBumpers (size_t currentBufferSize=30, size_t cumulativeBufferSize=30, const char *name="bumpers", int maxSecondsToKeepCurrent=15, double angleRange=135) |
| void | processReadings (void) |
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virtual void | setRobot (ArRobot *robot) |
Protected Attributes |
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double | myAngleRange |
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int | myBumpMask |
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ArFunctorC< ArBumpers > | myProcessCB |
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ArRobot * | myRobot |
Constructor & Destructor Documentation
| ArBumpers::ArBumpers |
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size_t |
currentBufferSize = 30, |
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size_t |
cumulativeBufferSize = 30, |
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const char * |
name = "bumpers", |
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int |
maxSecondsToKeepCurrent = 15, |
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double |
angleRange = 135 |
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) |
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- Parameters:
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| currentBufferSize | The number of readings to store in the current Buffer |
| cumulativeBufferSize | The number of readings in the cumulative buffer (This currently is not being used) |
| name | The name of this range device |
| maxSecondsToKeepCurrent | How long to keep readings in the current buffer |
| angleRange | the range in front and behind the robot which is divided by the number of bumpers and used to detrmine where the sensor readings will be placed. |
Definition at line 39 of file ArBumpers.cpp. |
Member Function Documentation
| void ArBumpers::addBumpToBuffer |
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int |
bumpValue, |
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int |
whichBumper |
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) |
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- Parameters:
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| bumpValue | This is the value that tells which individual bumper has been triggered |
| whichBumper | This value tells if the front or rear has been triggered |
Definition at line 112 of file ArBumpers.cpp. |
| void ArBumpers::processReadings |
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void |
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This function is called every 100 milliseconds.
Definition at line 75 of file ArBumpers.cpp. |
The documentation for this class was generated from the following files:
Generated on Tue Feb 20 10:51:43 2007 for Aria by
1.4.0