#include <ArRobot.h>
This is the most important class. It is used to communicate with the robot by sending commands and retrieving data (including wheel odometry, digital and analog inputs, sonar data, and more). It is also used to provide access to objects for controlling attached accessories, ArRangeDevice objects, ArAction objects, and others. For details on usage, and how the task cycle and obot state synchronization works, see the ArRobot section and the Commands and Actions section of the ARIA overview.
actionExample.cpp, actionGroupExample.cpp, actsColorFollowingExample.cpp, armExample.cpp, auxSerialExample.cpp, demo.cpp, directMotionExample.cpp, dpptuExample.cpp, gotoActionExample.cpp, gpsExample.cpp, gpsRobotTaskExample.cpp, gripperExample.cpp, gyroExample.cpp, joydriveActionExample.cpp, lineFinderExample.cpp, moduleExample.cpp, moduleExample_Mod.cpp, robotConnectionCallbacks.cpp, robotSyncTaskExample.cpp, simpleConnect.cpp, simpleMotionCommands.cpp, sonyPTZDemo.cpp, teleopActionsExample.cpp, triangleDriveToActionExample.cpp, vcc4CameraExample.cpp, and wander.cpp.
Public Types | |
enum | ChargeState { CHARGING_UNKNOWN = -1, CHARGING_NOT = 0, CHARGING_BULK = 1, CHARGING_OVERCHARGE = 2, CHARGING_FLOAT = 3 } |
enum | WaitState { WAIT_CONNECTED, WAIT_FAILED_CONN, WAIT_RUN_EXIT, WAIT_TIMEDOUT, WAIT_INTR, WAIT_FAIL } |
Public Member Functions | |
void | actionHandler (void) |
Action Handler, internal. | |
bool | addAction (ArAction *action, int priority) |
Adds an action to the list with the given priority. | |
void | addConnectCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST) |
Adds a connect callback. | |
void | addDisconnectNormallyCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST) |
Adds a callback for when disconnect is called while connected. | |
void | addDisconnectOnErrorCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST) |
Adds a callback for when disconnection happens because of an error. | |
void | addFailedConnectCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST) |
Adds a callback for when a connection to the robot is failed. | |
bool | addLaser (ArLaser *laser, int laserNumber, bool addAsRangeDevice=true) |
Adds a laser to the robot's map of them. | |
void | addPacketHandler (ArRetFunctor1< bool, ArRobotPacket * > *functor, ArListPos::Pos position=ArListPos::LAST) |
Adds a packet handler to the list of packet handlers. | |
void | addRangeDevice (ArRangeDevice *device) |
Adds a rangeDevice to the robot's list of them, and set the device's robot pointer. | |
void | addRunExitCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST) |
Adds a callback for when the run loop exits for what ever reason. | |
bool | addSensorInterpTask (const char *name, int position, ArFunctor *functor, ArTaskState::State *state=NULL) |
Adds a task under the sensor interp part of the syncronous tasks. | |
void | addStabilizingCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST) |
Adds a callback called when the robot starts stabilizing before declaring connection. | |
bool | addUserTask (const char *name, int position, ArFunctor *functor, ArTaskState::State *state=NULL) |
Adds a user task to the list of synchronous taskes. | |
void | applyTransform (ArTransform trans, bool doCumulative=true) |
This applies a transform to all the robot range devices and to the sonar. | |
bool | areMotorsEnabled (void) const |
returns true if the motors are enabled | |
bool | areSonarsEnabled (void) const |
returns true if the sonars are enabled (note that if the robot has no sonars at all, this will return false) | |
void | ariaExitCallback (void) |
internal function called when Aria::exit is called | |
ArRobot (const char *name=NULL, bool ignored=true, bool doSigHandle=true, bool normalInit=true, bool addAriaExitCallback=true) | |
Constructor. | |
bool | asyncConnect (void) |
Connects to a robot, from the robots own thread. | |
int | asyncConnectHandler (bool tryHarderToConnect) |
Internal function, shouldn't be used, does a single run of connecting. | |
void | attachKeyHandler (ArKeyHandler *keyHandler, bool exitOnEscape=true, bool useExitNotShutdown=true) |
Attachs a key handler. | |
bool | blockingConnect (void) |
Connects to a robot, not returning until connection made or failed. | |
void | cancelConnection (void) |
Internal function, shouldn't be used, cancels the connection quietly. | |
double | checkRangeDevicesCumulativeBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL, const ArRangeDevice **rangeDevice=NULL, bool useLocationDependentDevices=true) const |
double | checkRangeDevicesCumulativePolar (double startAngle, double endAngle, double *angle=NULL, const ArRangeDevice **rangeDevice=NULL, bool useLocationDependentDevices=true) const |
Goes through all the range devices and checks them. | |
double | checkRangeDevicesCurrentBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL, const ArRangeDevice **rangeDevice=NULL, bool useLocationDependentDevices=true) const |
double | checkRangeDevicesCurrentPolar (double startAngle, double endAngle, double *angle=NULL, const ArRangeDevice **rangeDevice=NULL, bool useLocationDependentDevices=true) const |
Goes through all the range devices and checks them. | |
void | clearDirectMotion (void) |
Clears what direct motion commands have been given, so actions work. | |
bool | com (unsigned char command) |
Sends a command to the robot with no arguments. | |
bool | com2Bytes (unsigned char command, char high, char low) |
Sends a command to the robot with two bytes for argument. | |
bool | comDataN (unsigned char command, const char *data, int size) |
Sends a command containing exactly the data in the given buffer as argument. | |
bool | comInt (unsigned char command, short int argument) |
Sends a command to the robot with an int for argument. | |
bool | comStr (unsigned char command, const char *argument) |
Sends a command to the robot with a length-prefixed string for argument. | |
bool | comStrN (unsigned char command, const char *str, int size) |
Sends a command to the robot with a length-prefixed string for argument. | |
void | deactivateActions (void) |
Deactivates all the actions. | |
void | disableMotors () |
Disables the motors on the robot. | |
void | disableSonar () |
Disables the sonar on the robot. | |
bool | disconnect (void) |
Disconnects from a robot. | |
void | dropConnection (void) |
Internal function, shouldn't be used, drops the conn because of error. | |
void | enableMotors () |
Enables the motors on the robot. | |
void | enableSonar () |
Enables the sonar on the robot. | |
void | failedConnect (void) |
Internal function, shouldn't be used, denotes the conn failed. | |
ArAction * | findAction (const char *actionName) |
Returns the first (highest priority) action with the given name (or NULL). | |
double | findAngleTo (const ArPose pose) |
Gets the angle to a point from the robot's current position and orientation. | |
double | findDeltaHeadingTo (const ArPose pose) |
Gets the difference between the angle to a point from the robot's current heading. | |
double | findDistanceTo (const ArPose pose) |
Gets the distance to a point from the robot's current position. | |
ArLaser * | findLaser (int laserNumber) |
Finds a laser in the robot's list. | |
const ArLaser * | findLaser (int laserNumber) const |
Finds a laser in the robot's list. | |
ArRangeDevice * | findRangeDevice (const char *name, bool ignoreCase=false) |
Finds a rangeDevice in the robot's list. | |
const ArRangeDevice * | findRangeDevice (const char *name, bool ignoreCase=false) const |
Finds a rangeDevice in the robot's list. | |
ArSyncTask * | findTask (ArFunctor *functor) |
Finds a task by functor. | |
ArSyncTask * | findTask (const char *name) |
Finds a task by name. | |
ArSyncTask * | findUserTask (ArFunctor *functor) |
Finds a user task by functor. | |
ArSyncTask * | findUserTask (const char *name) |
Finds a user task by name. | |
void | finishedConnection (void) |
Internal function, shouldn't be used, does the after conn stuff. | |
void | forceTryingToMove (void) |
Manually sets the flag that says the robot is trying to move for one cycle. | |
double | getAbsoluteMaxLatAccel (void) const |
Gets the robot's absolute maximum lateral acceleration. | |
double | getAbsoluteMaxLatDecel (void) const |
Gets the robot's absolute maximum lateral deceleration. | |
double | getAbsoluteMaxLatVel (void) const |
Gets the robot's absolute maximum lateral velocity. | |
double | getAbsoluteMaxRotAccel (void) const |
Gets the robot's absolute maximum rotational acceleration. | |
double | getAbsoluteMaxRotDecel (void) const |
Gets the robot's absolute maximum rotational deceleration. | |
double | getAbsoluteMaxRotVel (void) const |
Gets the robot's absolute maximum rotational velocity. | |
double | getAbsoluteMaxTransAccel (void) const |
Gets the robot's absolute maximum translational acceleration. | |
double | getAbsoluteMaxTransDecel (void) const |
Gets the robot's absolute maximum translational deceleration. | |
double | getAbsoluteMaxTransVel (void) const |
Gets the robot's absolute maximum translational velocity. | |
ArResolver::ActionMap * | getActionMap (void) |
unsigned char | getAnalog (void) const |
Gets the analog value. | |
int | getAnalogPortSelected (void) const |
Gets which analog port is selected. | |
double | getBatteryVoltage (void) const |
Gets the battery voltage of the robot (normalized to 12 volt system). | |
size_t | getBatteryVoltageAverageOfNum (void) |
Gets the number of readings the battery voltage is the average of. | |
double | getBatteryVoltageNow (void) const |
Gets the instaneous battery voltage. | |
ChargeState | getChargeState (void) const |
Gets the charge state of the robot (see long docs). | |
int | getClosestSonarNumber (double startAngle, double endAngle) const |
Returns the number of the sonar that has the closest current reading in the given range. | |
int | getClosestSonarRange (double startAngle, double endAngle) const |
Returns the closest of the current sonar reading in the given range. | |
double | getCompass (void) const |
Gets the compass heading from the robot. | |
unsigned int | getConnectionCycleMultiplier (void) const |
Gets the multiplier for how many cycles ArRobot waits when connecting. | |
int | getConnectionTimeoutTime (void) const |
Gets the time without a response until connection assumed lost. | |
double | getControl (void) const |
Gets the control heading. | |
unsigned int | getCounter (void) const |
Gets the Counter for the time through the loop. | |
unsigned int | getCycleTime (void) const |
Gets the number of ms between cycles. | |
unsigned int | getCycleWarningTime (void) |
Gets the number of ms between cycles to warn over. | |
unsigned int | getCycleWarningTime (void) const |
Gets the number of ms between cycles to warn over. | |
ArDeviceConnection * | getDeviceConnection (void) const |
Gets the connection this instance uses. | |
unsigned char | getDigIn (void) const |
Gets the byte representing digital input status. | |
unsigned char | getDigOut (void) const |
Gets the byte representing digital output status. | |
unsigned int | getDirectMotionPrecedenceTime (void) const |
bool | getDoNotSwitchBaud (void) |
Gets the flag that controls if the robot won't switch baud rates. | |
ArRetFunctor1< double, ArPoseWithTime > * | getEncoderCorrectionCallback (void) const |
Gets the encoderCorrectionCallback. | |
ArPose | getEncoderPose (void) const |
Get the position of the robot according to the last robot SIP, possibly with gyro correction if installed and enabled, but without any transformations applied. | |
size_t | getEncoderPoseInterpNumReadings (void) const |
Sets the number of packets back in time the encoder position interpolation goes. | |
int | getEncoderPoseInterpPosition (ArTime timeStamp, ArPose *position) |
Gets the encoder position the robot was at at the given timestamp. | |
ArTransform | getEncoderTransform (void) const |
Gets the encoder transform. | |
bool | getEstop (void) |
Returns true if the E-Stop button is pressed. | |
int | getFaultFlags (void) const |
Gets the fault flags values. | |
int | getFlags (void) const |
Gets the flags values. | |
double | getHeadingDoneDiff (void) const |
Gets the difference required for being done with a heading change (e.g. used in isHeadingDone()). | |
int | getIOAnalog (int num) const |
Gets the n'th byte from the analog input data from the IO packet. | |
int | getIOAnalogSize (void) const |
Gets the number of bytes in the analog IO buffer. | |
double | getIOAnalogVoltage (int num) const |
Gets the n'th byte from the analog input data from the IO packet. | |
unsigned char | getIODigIn (int num) const |
Gets the n'th byte from the digital input data from the IO packet. | |
int | getIODigInSize (void) const |
Gets the number of bytes in the digital input IO buffer. | |
unsigned char | getIODigOut (int num) const |
Gets the n'th byte from the digital output data from the IO packet. | |
int | getIODigOutSize (void) const |
Gets the number of bytes in the digital output IO buffer. | |
ArTime | getIOPacketTime (void) const |
Returns the time received of the last IO packet. | |
ArKeyHandler * | getKeyHandler (void) const |
Gets the key handler attached to this robot. | |
std::map< int, ArLaser * > * | getLaserMap (void) |
Gets the range device list. | |
const std::map< int, ArLaser * > * | getLaserMap (void) const |
Gets the range device list. | |
ArTime | getLastOdometryTime (void) const |
Gets the time the last odometry was received. | |
ArTime | getLastPacketTime (void) const |
Gets the time the last packet was received. | |
double | getLatAccel (void) const |
Gets the lateral acceleration. | |
double | getLatDecel (void) const |
Gets the lateral acceleration. | |
double | getLatVel (void) const |
Gets the current lateral velocity of the robot. | |
double | getLatVelMax (void) const |
Gets the maximum lateral velocity. | |
long int | getLeftEncoder (void) |
Gets packet data from the left encoder. | |
double | getLeftVel (void) const |
Gets the velocity of the left wheel. | |
bool | getLogActions (void) |
Gets if we're logging all the actions as they happen. | |
bool | getLogMovementReceived (void) |
Gets if we're logging all the positions received from the robot. | |
bool | getLogMovementSent (void) |
Gets if we're logging all the movement commands sent down. | |
bool | getLogVelocitiesReceived (void) |
Gets if we're logging all the velocities (and heading) received. | |
int | getMotorPacCount (void) const |
Gets the number of motor packets received in the last second. | |
double | getMoveDoneDist (void) |
Gets the difference required for being done with a move. | |
const char * | getName (void) const |
Gets the robots name in ARIAs list. | |
bool | getNoTimeWarningThisCycle (void) |
Internal function for sync loop and sync task to see if we should warn this cycle or not. | |
unsigned int | getNumFrontBumpers (void) const |
Get the number of the front bumper switches. | |
unsigned int | getNumRearBumpers (void) const |
Gets the number of rear bumper switches. | |
int | getNumSonar (void) const |
Find the number of sonar sensors (that the robot has yet returned values for). | |
double | getOdometerDegrees (void) |
This gets the number of degrees the robot has turned (deg). | |
double | getOdometerDistance (void) |
This gets the distance the robot has travelled (mm). | |
double | getOdometerTime (void) |
This gets the time since the robot started (sec). | |
int | getOdometryDelay (void) |
Gets the delay in odometry readings. | |
const ArRobotConfigPacketReader * | getOrigRobotConfig (void) const |
Gets the original robot config packet information. | |
ArThread::ThreadType | getOSThread (void) |
Internal call that will get the thread the robot is running in. | |
bool | getPacketsReceivedTracking (void) |
Gets if we're logging all the packets received (just times and types). | |
bool | getPacketsSentTracking (void) |
Gets if we're logging all the packets sent and their payload. | |
ArPose | getPose (void) const |
Get the current stored global position of the robot. | |
size_t | getPoseInterpNumReadings (void) const |
Sets the number of packets back in time the position interpol goes. | |
int | getPoseInterpPosition (ArTime timeStamp, ArPose *position) |
Gets the position the robot was at at the given timestamp. | |
ArPTZ * | getPTZ (void) |
Sets the camera this robot is using. | |
std::list< ArRangeDevice * > * | getRangeDeviceList (void) |
Gets the range device list. | |
ArPose | getRawEncoderPose (void) const |
Get the position of the robot according to the last robot SIP only, with no correction by the gyro, other devices or software proceses. | |
double | getRealBatteryVoltage (void) const |
Gets the real battery voltage of the robot. | |
size_t | getRealBatteryVoltageAverageOfNum (void) |
Gets the number of readings the battery voltage is the average of. | |
double | getRealBatteryVoltageNow (void) const |
Gets the instaneous battery voltage. | |
ArResolver * | getResolver (void) |
Gets the resolver the robot is using. | |
long int | getRightEncoder (void) |
Gets packet data from the right encoder. | |
double | getRightVel (void) const |
Gets the velocity of the right wheel. | |
double | getRobotDiagonal (void) const |
Gets the robot diagonal (half-height to diagonal of octagon) (in mm). | |
double | getRobotLength (void) const |
Gets the robot length (in mm). | |
double | getRobotLengthFront (void) const |
Gets the robot length to the front (in mm). | |
double | getRobotLengthRear (void) const |
Gets the robot length to the front (in mm). | |
const char * | getRobotName (void) const |
Returns the robot's name that is set in its onboard firmware configuration. | |
const ArRobotParams * | getRobotParams (void) const |
Gets the parameters the robot is using. | |
double | getRobotRadius (void) const |
Gets the robot radius (in mm). | |
const char * | getRobotSubType (void) const |
Returns the subtype of the robot we are currently connected to. | |
const char * | getRobotType (void) const |
Returns the type of the robot we are currently connected to. | |
double | getRobotWidth (void) const |
Gets the robot width (in mm). | |
double | getRotAccel (void) const |
Gets the rotational acceleration. | |
double | getRotDecel (void) const |
Gets the rotational acceleration. | |
double | getRotVel (void) const |
Gets the current rotational velocity of the robot. | |
double | getRotVelMax (void) const |
Gets the maximum rotational velocity. | |
std::list< ArFunctor * > * | getRunExitListCopy () |
Internal function, shouldn't be used, does what its name says. | |
int | getSonarPacCount (void) const |
Gets the number of sonar returns received in the last second. | |
int | getSonarRange (int num) const |
Gets the range of the last sonar reading for the given sonar. | |
ArSensorReading * | getSonarReading (int num) const |
Returns the sonar reading for the given sonar. | |
int | getStabilizingTime (void) const |
How long we stabilize for in ms (0 means no stabilizng). | |
int | getStallValue (void) const |
Gets the 2 bytes of stall and bumper flags from the robot. | |
double | getStateOfCharge (void) const |
Gets the state of charge (percent of charge, as number between 0 and 100). | |
double | getStateOfChargeLow (void) const |
Gets the state of charge that is considered low. | |
ArTime | getStateOfChargeSetTime (void) const |
Gets the last time the state of charge was set. | |
double | getStateOfChargeShutdown (void) const |
Gets the state of charge (percent of charge, as number between 0 and 100). | |
int | getStateReflectionRefreshTime (void) const |
ArSyncTask * | getSyncTaskRoot (void) |
int | getTemperature (void) |
Gets the temperature of the robot, -128 if not available, -127 to 127 otherwise. | |
double | getTh (void) const |
Gets the global angular position ("theta") of the robot. | |
ArTransform | getToGlobalTransform (void) const |
This gets the transform from local coords to global coords. | |
ArTransform | getToLocalTransform (void) const |
This gets the transform for going from global coords to local coords. | |
double | getTransAccel (void) const |
Gets the translational acceleration. | |
double | getTransDecel (void) const |
Gets the translational acceleration. | |
double | getTransVelMax (void) const |
Gets the maximum translational velocity. | |
double | getTripOdometerDegrees (void) |
This gets the number of degrees the robot has turned since the last reset (deg). | |
double | getTripOdometerDistance (void) |
This gets the distance the robot has travelled since the last reset (mm). | |
double | getTripOdometerTime (void) |
This gets the time since the odometer was reset (sec). | |
double | getVel (void) const |
Gets the current translational velocity of the robot. | |
double | getX (void) const |
Gets the global X position of the robot. | |
double | getY (void) const |
Gets the global Y position of the robot. | |
bool | handlePacket (ArRobotPacket *packet) |
bool | hasFaultFlags (void) const |
Gets whether or not we're getting the fault flags values. | |
bool | hasFrontBumpers (void) const |
Gets whether the robot has front bumpers (see ARCOS parameters in the robot manual). | |
bool | hasLaser (ArLaser *device) const |
Finds whether a particular range device is attached to this robot or not. | |
bool | hasLatVel (void) const |
Sees if the robot supports lateral velocities (e.g. Seekur(TM)). | |
bool | hasRangeDevice (ArRangeDevice *device) const |
Finds whether a particular range device is attached to this robot or not. | |
bool | hasRearBumpers (void) const |
Gets whether the robot has rear bumpers (see ARCOS parameters in the robot manual). | |
bool | hasSettableAccsDecs (void) const |
If the robot has settable accels and decels. | |
bool | hasSettableVelMaxes (void) const |
If the robot has settable maximum velocities. | |
bool | hasTableSensingIR (void) const |
Gets whether the robot has table sensing IR or not (see params in docs). | |
bool | hasTemperature (void) |
Returns true if we have a temperature, false otherwise. | |
bool | haveStateOfCharge (void) const |
Gets if the state of charge value is in use. | |
void | incCounter (void) |
This is only for use by syncLoop. | |
void | init (void) |
Internal function, shouldn't be used. | |
bool | isConnected (void) const |
Questions whether the robot is connected or not. | |
bool | isCycleChained (void) const |
Gets whether we chain the robot cycle to when we get in SIP packets. | |
bool | isDirectMotion (void) const |
Returns true if direct motion commands are blocking actions. | |
bool | isEStopPressed (void) const |
returns true if the estop is pressed (or unrelieved) | |
bool | isHeadingDone (double delta=0.0) const |
Sees if the robot is done changing to the previously given setHeading. | |
bool | isLeftBreakBeamTriggered (void) const |
Returns true if the left break beam IR is triggered. | |
bool | isLeftMotorStalled (void) const |
Returns true if the left motor is stalled. | |
bool | isLeftTableSensingIRTriggered (void) const |
Returns true if the left table sensing IR is triggered. | |
bool | isMoveDone (double delta=0.0) |
Sees if the robot is done moving the previously given move. | |
bool | isRightBreakBeamTriggered (void) const |
Returns true if the right break beam IR is triggered. | |
bool | isRightMotorStalled (void) const |
Returns true if the left motor is stalled. | |
bool | isRightTableSensingIRTriggered (void) const |
Returns true if the right table sensing IR is triggered. | |
bool | isRunning (void) const |
Returns whether the robot is currently running or not. | |
bool | isSonarNew (int num) const |
Find out if the given sonar reading was newly refreshed by the last incoming SIP received. | |
bool | isStabilizing (void) |
This tells us if we're in the preconnection state. | |
bool | isTryingToMove (void) |
Gets if the robot is trying to move or not. | |
void | keyHandlerExit (void) |
For the key handler, escape calls this to exit, internal. | |
bool | loadParamFile (const char *file) |
Loads a parameter file (replacing all other params). | |
int | lock () |
Lock the robot instance. | |
void | logActions (bool logDeactivated=false) const |
Logs out the actions and their priorities. | |
void | logAllTasks (void) const |
Logs the list of all tasks, strictly for your viewing pleasure. | |
void | logUserTasks (void) const |
Logs the list of user tasks, strictly for your viewing pleasure. | |
void | loopOnce (void) |
This function loops once... only serious developers should use it. | |
bool | madeConnection (void) |
Internal function, shouldn't be used, does the initial conn stuff. | |
void | move (double distance) |
Move the given distance forward/backwards. | |
void | moveTo (ArPose to, ArPose from, bool doCumulative=true) |
Change stored pose (i.e. the value returned by getPose()). | |
void | moveTo (ArPose pose, bool doCumulative=true) |
Change stored pose (i.e. the value returned by getPose()). | |
void | packetHandler (void) |
Packet Handler, internal. | |
bool | processEncoderPacket (ArRobotPacket *packet) |
Processes a new encoder packet, internal. | |
bool | processIOPacket (ArRobotPacket *packet) |
Processes a new IO packet, internal. | |
bool | processMotorPacket (ArRobotPacket *packet) |
Processes a motor packet, internal. | |
void | processNewSonar (char number, int range, ArTime timeReceived) |
Processes a new sonar reading, internal. | |
void | processParamFile (void) |
Internal function, processes a parameter file. | |
bool | remAction (const char *actionName) |
Removes an action from the list, by name. | |
bool | remAction (ArAction *action) |
Removes an action from the list, by pointer. | |
void | remConnectCB (ArFunctor *functor) |
Removes a connect callback. | |
void | remDisconnectNormallyCB (ArFunctor *functor) |
Removes a callback for when disconnect is called while connected. | |
void | remDisconnectOnErrorCB (ArFunctor *functor) |
Removes a callback for when disconnection happens because of an error. | |
void | remFailedConnectCB (ArFunctor *functor) |
Removes a callback for when a connection to the robot is failed. | |
bool | remLaser (int laserNumber, bool removeAsRangeDevice=true) |
Remove a range device from the robot's list, by number. | |
bool | remLaser (ArLaser *laser, bool removeAsRangeDevice=true) |
Remove a range device from the robot's list, by instance. | |
void | remPacketHandler (ArRetFunctor1< bool, ArRobotPacket * > *functor) |
Removes a packet handler from the list of packet handlers. | |
void | remRangeDevice (ArRangeDevice *device) |
Remove a range device from the robot's list, by instance. | |
void | remRangeDevice (const char *name) |
Remove a range device from the robot's list, by name. | |
void | remRunExitCB (ArFunctor *functor) |
Removes a callback for when the run loop exits for what ever reason. | |
void | remSensorInterpTask (ArFunctor *functor) |
Removes a sensor interp tasks by functor. | |
void | remSensorInterpTask (const char *name) |
Removes a sensor interp tasks by name. | |
void | remStabilizingCB (ArFunctor *functor) |
Removes stabilizing callback. | |
void | remUserTask (ArFunctor *functor) |
Removes a user task from the list of synchronous taskes by functor. | |
void | remUserTask (const char *name) |
Removes a user task from the list of synchronous taskes by name. | |
void | requestEncoderPackets (void) |
Starts a continuous stream of encoder packets. | |
void | requestIOPackets (void) |
Starts a continuous stream of IO packets. | |
void | resetTripOdometer (void) |
Resets the odometer. | |
void | robotLocker (void) |
Robot locker, internal. | |
void | robotUnlocker (void) |
Robot unlocker, internal. | |
void | run (bool stopRunIfNotConnected) |
Starts the instance to do processing in this thread. | |
void | runAsync (bool stopRunIfNotConnected) |
Starts the instance to do processing in its own new thread. | |
bool | setAbsoluteMaxLatAccel (double maxAccel) |
Sets the robot's absolute maximum lateral acceleration. | |
bool | setAbsoluteMaxLatDecel (double maxDecel) |
Sets the robot's absolute maximum lateral deceleration. | |
bool | setAbsoluteMaxLatVel (double maxVel) |
Sets the robot's absolute maximum lateral velocity. | |
bool | setAbsoluteMaxRotAccel (double maxAccel) |
Sets the robot's absolute maximum rotational acceleration. | |
bool | setAbsoluteMaxRotDecel (double maxDecel) |
Sets the robot's absolute maximum rotational deceleration. | |
bool | setAbsoluteMaxRotVel (double maxVel) |
Sets the robot's absolute maximum rotational velocity. | |
bool | setAbsoluteMaxTransAccel (double maxAccel) |
Sets the robot's absolute maximum translational acceleration. | |
bool | setAbsoluteMaxTransDecel (double maxDecel) |
Sets the robot's absolute maximum translational deceleration. | |
bool | setAbsoluteMaxTransVel (double maxVel) |
Sets the robot's absolute maximum translational velocity. | |
void | setBatteryVoltageAverageOfNum (size_t numToAverage) |
Sets the number of readings the battery voltage is the average of (default 20). | |
void | setChargeState (ArRobot::ChargeState chargeState) |
Sets the charge state (for use with setting the state of charge). | |
void | setConnectionCycleMultiplier (unsigned int multiplier) |
Sets the multiplier for how many cycles ArRobot waits when connecting. | |
void | setConnectionTimeoutTime (int mSecs) |
Sets the time without a response until connection assumed lost. | |
void | setConnectWithNoParams (bool connectWithNoParams) |
internal call that will let the robot connect even if it can't find params | |
void | setCycleChained (bool cycleChained) |
Sets whether to chain the robot cycle to when we get in SIP packets. | |
void | setCycleTime (unsigned int ms) |
Sets the number of ms between cycles. | |
void | setCycleWarningTime (unsigned int ms) |
Sets the number of ms between cycles to warn over. | |
void | setDeadReconPose (ArPose pose) |
Sets the dead recon position of the robot. | |
void | setDeltaHeading (double deltaHeading) |
Sets the delta heading. | |
void | setDeviceConnection (ArDeviceConnection *connection) |
Sets the connection this instance uses. | |
void | setDirectMotionPrecedenceTime (int mSec) |
void | setDoNotSwitchBaud (bool doNotSwitchBaud) |
Sets the flag that controls if the robot will switch baud rates. | |
void | setEncoderCorrectionCallback (ArRetFunctor1< double, ArPoseWithTime > *functor) |
Sets the encoderCorrectionCallback. | |
void | setEncoderPoseInterpNumReadings (size_t numReadings) |
Sets the number of packets back in time the ArInterpolation goes for encoder readings. | |
void | setEncoderTransform (ArPose transformPos) |
Changes the transform directly. | |
void | setEncoderTransform (ArPose deadReconPos, ArPose globalPos) |
Changes the transform. | |
void | setHeading (double heading) |
Sets the heading. | |
void | setHeadingDoneDiff (double degrees) |
sets the difference required for being done with a heading change (e.g. used in isHeadingDone()) | |
void | setLatAccel (double acc) |
Sets the lateral acceleration. | |
void | setLatDecel (double decel) |
Sets the lateral acceleration. | |
void | setLatVel (double latVelocity) |
void | setLatVelMax (double vel) |
Sets the maximum lateral velocity. | |
void | setLogActions (bool logActions) |
Sets if we're logging all the actions as they happen. | |
void | setLogMovementReceived (bool logMovementReceived) |
Sets if we're logging all the positions received from the robot. | |
void | setLogMovementSent (bool logMovementSent) |
Sets if we're logging all the movement commands sent down. | |
void | setLogVelocitiesReceived (bool logVelocitiesReceived) |
Sets if we're logging all the velocities (and heading) received. | |
void | setMoveDoneDist (double dist) |
Sets the difference required for being done with a move. | |
void | setMutexLockWarningTime (double sec) |
Set robot lock warning time (see ArMutex::setLockWarningTime()). | |
void | setMutexLogging (bool v) |
Turn on verbose locking of robot mutex. | |
void | setMutexUnlockWarningTime (double sec) |
Set robot lock-unlock warning time (see ArMutex::setUnlockWarningTime()). | |
void | setName (const char *name) |
Sets the robots name in ARIAs list. | |
void | setNoTimeWarningThisCycle (bool noTimeWarningThisCycle) |
Internal function for sync loop and sync task to say if we should warn this cycle or not. | |
void | setOdometryDelay (int msec) |
Sets the delay in the odometry readings. | |
void | setPacketsReceivedTracking (bool packetsReceivedTracking) |
Sets if we're logging all the packets received (just times and types). | |
void | setPacketsSentTracking (bool packetsSentTracking) |
Sets if we're logging all the packets sent and their payloads. | |
void | setPoseInterpNumReadings (size_t numReadings) |
Sets the number of packets back in time the ArInterpolation goes. | |
void | setPTZ (ArPTZ *ptz) |
Sets the camera this robot is using. | |
void | setRealBatteryVoltageAverageOfNum (size_t numToAverage) |
Sets the number of readings the real battery voltage is the average of (default 20). | |
void | setResolver (ArResolver *resolver) |
Sets the resolver the robot is using. | |
void | setRobotParams (ArRobotParams *params) |
Sets the robot to use a passed in set of params (passes ownership). | |
void | setRotAccel (double acc) |
Sets the rotational acceleration. | |
void | setRotDecel (double decel) |
Sets the rotational acceleration. | |
void | setRotVel (double velocity) |
Sets the rotational velocity. | |
void | setRotVelMax (double vel) |
Sets the maximum rotational velocity. | |
void | setStabilizingTime (int mSecs) |
How long we should stabilize for in ms (0 disables stabilizing). | |
void | setStateOfCharge (double stateOfCharge) |
Manually sets the current percentage that the robot is charged (argument is percentage, as a number between 0 and 100). | |
void | setStateOfChargeLow (double stateOfChargeLow) |
Sets the state of charge (percentage) that is considered to be low. | |
void | setStateOfChargeShutdown (double stateOfChargeShutdown) |
Sets the state of charge that will cause a shutdown. | |
void | setStateReflectionRefreshTime (int msec) |
void | setTransAccel (double acc) |
Sets the translational acceleration. | |
void | setTransDecel (double decel) |
Sets the translational acceleration. | |
void | setTransVelMax (double vel) |
Sets the maximum translational velocity. | |
void | setUpPacketHandlers (void) |
Internal function, shouldn't be used, sets up the default packet handlers. | |
void | setUpSyncList (void) |
Internal function, shouldn't be used, sets up the default sync list. | |
void | setVel (double velocity) |
void | setVel2 (double leftVelocity, double rightVelocity) |
Sets the velocity of the wheels independently. | |
void | startStabilization (void) |
Internal function, shouldn't be used, calls the preconnected stuff. | |
void | stateReflector (void) |
State Reflector, internal. | |
void | stop (void) |
void | stopEncoderPackets (void) |
Stops a continuous stream of encoder packets. | |
void | stopIOPackets (void) |
Stops a continuous stream of IO packets. | |
void | stopRunning (bool doDisconnect=true) |
Stops the robot from doing any more processing. | |
void | stopStateReflection (void) |
int | tryLock () |
Try to lock the robot instance without blocking. | |
int | unlock () |
Unlock the robot instance. | |
WaitState | waitForConnect (unsigned int msecs=0) |
Suspend calling thread until the ArRobot is connected. | |
WaitState | waitForConnectOrConnFail (unsigned int msecs=0) |
Suspend calling thread until the ArRobot is connected or fails to connect. | |
WaitState | waitForRunExit (unsigned int msecs=0) |
Suspend calling thread until the ArRobot run loop has exited. | |
void | wakeAllConnOrFailWaitingThreads () |
Wake up all threads waiting for connection or connection failure. | |
void | wakeAllConnWaitingThreads () |
Wake up all threads waiting for connection. | |
void | wakeAllRunExitWaitingThreads () |
Wake up all threads waiting for the run loop to exit. | |
void | wakeAllWaitingThreads () |
Wake up all threads waiting on this robot. | |
~ArRobot () | |
Destructor. | |
Public Attributes | |
ArFunctorC< ArRobot > | myActionHandlerCB |
ArRetFunctor1C< bool, ArRobot, ArRobotPacket * > | myEncoderPacketCB |
ArRetFunctorC< unsigned int, ArRobot > | myGetCycleWarningTimeCB |
ArRetFunctorC< bool, ArRobot > | myGetNoTimeWarningThisCycleCB |
ArRetFunctor1C< bool, ArRobot, ArRobotPacket * > | myIOPacketCB |
ArFunctorC< ArKeyHandler > * | myKeyHandlerCB |
ArFunctorC< ArRobot > | myKeyHandlerExitCB |
ArRetFunctor1C< bool, ArRobot, ArRobotPacket * > | myMotorPacketCB |
ArFunctorC< ArRobot > | myPacketHandlerCB |
ArFunctorC< ArRobot > | myRobotLockerCB |
ArFunctorC< ArRobot > | myRobotUnlockerCB |
ArFunctorC< ArRobot > | myStateReflectorCB |
Protected Types | |
enum | LatDesired { LAT_NONE, LAT_IGNORE, LAT_VEL } |
enum | RotDesired { ROT_NONE, ROT_IGNORE, ROT_HEADING, ROT_VEL } |
enum | TransDesired { TRANS_NONE, TRANS_IGNORE, TRANS_VEL, TRANS_VEL2, TRANS_DIST, TRANS_DIST_NEW } |
Protected Member Functions | |
void | reset (void) |
Protected Attributes | |
double | myAbsoluteMaxLatAccel |
double | myAbsoluteMaxLatDecel |
double | myAbsoluteMaxLatVel |
double | myAbsoluteMaxRotAccel |
double | myAbsoluteMaxRotDecel |
double | myAbsoluteMaxRotVel |
double | myAbsoluteMaxTransAccel |
double | myAbsoluteMaxTransDecel |
double | myAbsoluteMaxTransVel |
ArActionDesired | myActionDesired |
bool | myActionLatSet |
bool | myActionRotSet |
ArResolver::ActionMap | myActions |
bool | myActionTransSet |
bool | myAddedAriaExitCB |
unsigned char | myAnalog |
int | myAnalogPortSelected |
ArFunctorC< ArRobot > | myAriaExitCB |
bool | myAsyncConnectFlag |
int | myAsyncConnectNoPacketCount |
bool | myAsyncConnectSentChangeBaud |
int | myAsyncConnectStartBaud |
ArTime | myAsyncConnectStartedChangeBaud |
int | myAsyncConnectState |
int | myAsyncConnectTimesTried |
ArTime | myAsyncStartedConnection |
ArRunningAverage | myBatteryAverager |
double | myBatteryVoltage |
bool | myBlockingConnectRun |
ChargeState | myChargeState |
double | myCompass |
ArDeviceConnection * | myConn |
std::list< ArFunctor * > | myConnectCBList |
ArCondition | myConnectCond |
unsigned int | myConnectionCycleMultiplier |
bool | myConnectWithNoParams |
ArCondition | myConnOrFailCond |
double | myControl |
unsigned int | myCounter |
bool | myCycleChained |
unsigned int | myCycleTime |
unsigned int | myCycleWarningTime |
unsigned char | myDigIn |
unsigned char | myDigOut |
int | myDirectPrecedenceTime |
std::list< ArFunctor * > | myDisconnectNormallyCBList |
std::list< ArFunctor * > | myDisconnectOnErrorCBList |
bool | myDoNotSwitchBaud |
ArRetFunctor1< double, ArPoseWithTime > * | myEncoderCorrectionCB |
ArTransform | myEncoderGlobalTrans |
ArInterpolation | myEncoderInterpolation |
ArPoseWithTime | myEncoderPose |
ArTime | myEncoderPoseTaken |
ArTransform | myEncoderTransform |
std::list< ArFunctor * > | myFailedConnectCBList |
int | myFaultFlags |
bool | myFirstEncoderPose |
int | myFlags |
ArPose | myGlobalPose |
bool | myHasFaultFlags |
bool | myHaveStateOfCharge |
double | myHeadingDoneDiff |
ArInterpolation | myInterpolation |
int | myIOAnalog [128] |
int | myIOAnalogSize |
unsigned char | myIODigIn [255] |
int | myIODigInSize |
unsigned char | myIODigOut [255] |
int | myIODigOutSize |
bool | myIsConnected |
bool | myIsStabilizing |
ArKeyHandler * | myKeyHandler |
bool | myKeyHandlerUseExitNotShutdown |
std::map< int, ArLaser * > | myLaserMap |
int | myLastActionLatVal |
bool | myLastActionRotHeading |
bool | myLastActionRotStopped |
int | myLastActionRotVal |
int | myLastActionTransVal |
double | myLastCalculatedRotVel |
double | myLastHeading |
ArTime | myLastIOPacketReceivedTime |
ArTime | myLastLatSent |
LatDesired | myLastLatType |
int | myLastLatVal |
double | myLastLatVel |
ArTime | myLastOdometryReceivedTime |
ArTime | myLastPacketReceivedTime |
ArTime | myLastPulseSent |
ArTime | myLastRotSent |
RotDesired | myLastRotType |
int | myLastRotVal |
double | myLastRotVel |
double | myLastSentLatAccel |
double | myLastSentLatDecel |
double | myLastSentLatVelMax |
double | myLastSentRotAccel |
double | myLastSentRotDecel |
double | myLastSentRotVelMax |
double | myLastSentTransAccel |
double | myLastSentTransDecel |
double | myLastSentTransVelMax |
int | myLastTh |
ArTime | myLastTransSent |
TransDesired | myLastTransType |
int | myLastTransVal |
int | myLastTransVal2 |
double | myLastVel |
int | myLastX |
int | myLastY |
double | myLatAccel |
double | myLatDecel |
ArTime | myLatSetTime |
LatDesired | myLatType |
double | myLatVal |
double | myLatVel |
double | myLatVelMax |
long int | myLeftEncoder |
double | myLeftVel |
bool | myLogActions |
bool | myLogMovementReceived |
bool | myLogMovementSent |
bool | myLogVelocitiesReceived |
int | myMotorPacCount |
int | myMotorPacCurrentCount |
double | myMoveDoneDist |
ArMutex | myMutex |
std::string | myName |
bool | myNoTimeWarningThisCycle |
int | myNumSonar |
double | myOdometerDegrees |
double | myOdometerDistance |
ArTime | myOdometerStart |
int | myOdometryDelay |
ArRobotConfigPacketReader * | myOrigRobotConfig |
bool | myOverriddenChargeState |
bool | myOwnTheResolver |
std::list< ArRetFunctor1< bool, ArRobotPacket * > * > | myPacketHandlerList |
bool | myPacketsReceivedTracking |
long | myPacketsReceivedTrackingCount |
ArTime | myPacketsReceivedTrackingStarted |
bool | myPacketsSentTracking |
ArRobotParams * | myParams |
ArPTZ * | myPtz |
std::list< ArRangeDevice * > | myRangeDeviceList |
ArPoseWithTime | myRawEncoderPose |
ArRunningAverage | myRealBatteryAverager |
double | myRealBatteryVoltage |
ArRobotPacketReceiver | myReceiver |
bool | myRequestedEncoderPackets |
bool | myRequestedIOPackets |
ArResolver * | myResolver |
long int | myRightEncoder |
double | myRightVel |
double | myRobotLengthFront |
double | myRobotLengthRear |
std::string | myRobotName |
std::string | myRobotSubType |
std::string | myRobotType |
double | myRotAccel |
double | myRotDecel |
ArTime | myRotSetTime |
RotDesired | myRotType |
double | myRotVal |
double | myRotVel |
double | myRotVelMax |
std::list< ArFunctor * > | myRunExitCBList |
ArCondition | myRunExitCond |
ArRobotPacketSender | mySender |
bool | mySentPulse |
int | mySonarPacCount |
int | mySonarPacCurrentCount |
std::map< int, ArSensorReading * > | mySonars |
std::list< ArFunctor * > | myStabilizingCBList |
int | myStabilizingTime |
int | myStallValue |
ArTime | myStartedStabilizing |
double | myStateOfCharge |
double | myStateOfChargeLow |
ArTime | myStateOfChargeSetTime |
double | myStateOfChargeShutdown |
int | myStateReflectionRefreshTime |
ArSyncLoop | mySyncLoop |
ArSyncTask * | mySyncTaskRoot |
char | myTemperature |
time_t | myTimeLastMotorPacket |
time_t | myTimeLastSonarPacket |
int | myTimeoutTime |
double | myTransAccel |
double | myTransDecel |
ArPose | myTransDistStart |
ArTime | myTransSetTime |
TransDesired | myTransType |
double | myTransVal |
double | myTransVal2 |
double | myTransVelMax |
double | myTripOdometerDegrees |
double | myTripOdometerDistance |
ArTime | myTripOdometerStart |
bool | myTryingToMove |
double | myVel |
bool | myWarnedAboutExtraSonar |
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Constructor. The parameters only rarely need to be specified.
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Action Handler, internal. Runs the resolver on the actions, it just saves these values for use by the stateReflector, otherwise it sends these values straight down to the robot. |
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Adds an action to the list with the given priority. Adds an action to the list of actions with the given priority. In the case of two (or more) actions with the same priority, the default resolver (ArPriorityResolver) averages the the multiple readings. The priority can be any integer, but as a convention 0 to 100 is used, with 100 being the highest priority. The default resolver (ArPriorityResolver) resolves the actions in order of descending priority. For example, an action with priority 100 is evaluated before one with priority 99, followed by 50, etc. This means that an action with a higher priority may be able to supercede a lower-priority action's desired value for a certain output to a lesser or greater degree, depending on how high a "strength" value it sets. See the overview of ARIA in this reference manual for more discussion on Actions.
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Adds a connect callback. Adds a connect callback, which is an ArFunctor, (created as an ArFunctorC). The entire list of connect callbacks is called when a connection is made with the robot. If you have some sort of module that adds a callback, that module must remove the callback when the module is removed.
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Adds a callback for when disconnect is called while connected. Adds a disconnect normally callback,which is an ArFunctor, created as an ArFunctorC. This whole list of disconnect normally callbacks is called when something calls disconnect if the instance isConnected. If there is no connection and disconnect is called nothing is done. If you have some sort of module that adds a callback, that module must remove the callback when the module is removed.
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Adds a callback for when disconnection happens because of an error. Adds a disconnect on error callback, which is an ArFunctor, created as an ArFunctorC. This whole list of disconnect on error callbacks is called when ARIA loses connection to a robot because of an error. This can occur if the physical connection (ie serial cable) between the robot and the computer is severed/disconnected, if one of a pair of radio modems that connect the robot and computer are disconnected, if someone presses the reset button on the robot, or if the simulator is closed while ARIA is connected to it. Note that if the link between the two is lost the ARIA assumes it is temporary until it reaches a timeout value set with setConnectionTimeoutTime. If you have some sort of module that adds a callback, that module must remove the callback when the module removed.
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Adds a callback for when a connection to the robot is failed. Adds a failed connect callback,which is an ArFunctor, created as an ArFunctorC. This whole list of failed connect callbacks is called when an attempt is made to connect to the robot, but fails. The usual reason for this failure is either that there is no robot/sim where the connection was tried to be made, the robot wasn't given a connection, or the radio modems that communicate with the robot aren't on. If you have some sort of module that adds a callback, that module must remove the callback when the module removed.
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Adds a packet handler to the list of packet handlers. Adds a packet handler. A packet handler is an ArRetFunctor1<bool, ArRobotPacket*>, (e.g. created as an instance of ArRetFunctor1C. The return is a boolean, while the functor takes an ArRobotPacket pointer as the argument. This functor is placed in a list of functors to call when a packet arrives. This list is processed in order until one of the handlers returns true. Your packet handler function may be invoked for any packet, so it should test the packet type ID (see ArRobotPacket::getID()). If you handler gets data from the packet (it "handles" it) it should return true, to prevent ArRobot from invoking other handlers with the packet (with data removed). If you hander cannot interpret the packet, it should leave it unmodified and return false to allow other handlers a chance to receive it.
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Adds a callback for when the run loop exits for what ever reason. Adds a callback that is called when the run loop exits. The functor is which is an ArFunctor, created as an ArFunctorC. The whole list of functors is called when the run loop exits. This is most usefull for threaded programs that run the robot using ArRobot::runAsync. This will allow user threads to know when the robot loop has exited.
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Adds a task under the sensor interp part of the syncronous tasks. The synchronous tasks get called every robot cycle (every 100 ms by default).
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Adds a callback called when the robot starts stabilizing before declaring connection. Adds a stablizing callback, which is an ArFunctor, created as an ArFunctorC. The entire list of connect callbacks is called just before the connection is called done to the robot. This time can be used to calibtrate readings (on things like gyros).
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Adds a user task to the list of synchronous taskes. The synchronous tasks get called every robot cycle (every 100 ms by default).
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This applies a transform to all the robot range devices and to the sonar. Applies a transform to the range devices and sonar... this is mostly useful for translating to/from local/global coords, but may have other uses
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Connects to a robot, from the robots own thread. Sets up the robot to connect, then returns, but the robot must be running (ie from runAsync) before you do this. Also this will fail if the robot is already connected. If you want to know what happened because of the connect then look at the callbacks. NOTE, this will not lock robot before setting values, so you MUST lock the robot before you call this function and unlock the robot after you call this function. If you fail to lock the robot, you'll may wind up with wierd behavior. Other than the aspect of blocking or not the only difference between async and blocking connects (other than the blocking) is that async is run every robot cycle, whereas blocking runs as fast as it can... also blocking will try to reconnect a radio modem if it looks like it didn't get connected in the first place, so blocking can wind up taking 10 or 12 seconds to decide it can't connect, whereas async doesn't try hard at all to reconnect the radio modem (beyond its first try) (under the assumption the async connect is user driven, so they'll just try again, and so that it won't mess up the sync loop by blocking for so long).
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Internal function, shouldn't be used, does a single run of connecting. This is an internal function that is used both for async connects and blocking connects use to connect. It does about the same thing for both, and it should only be used by asyncConnect and blockingConnect really. But here it is. The only difference between when its being used by blocking/async connect is that in blocking mode if it thinks there may be problems with the radio modem it pauses for two seconds trying to deal with this... whereas in async mode it tries to deal with this in a simpler way.
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Attachs a key handler. This will attach a key handler to a robot, by putting it into the robots sensor interp task list (a keyboards a sensor of users will, right?). By default exitOnEscape is true, which will cause this function to add an escape key handler to the key handler, this will make the program exit when escape is pressed... if you don't like this you can pass exitOnEscape in as false.
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Connects to a robot, not returning until connection made or failed. Connects to the robot, returning only when a connection has been made or it has been established a connection can't be made. This connection usually is fast, but can take up to 30 seconds if the robot is in a wierd state (this is not often). If the robot is connected via ArSerialConnection then the connect will also connect the radio modems. Upon a successful connection all of the Connection Callback Functors that have been registered will be called. NOTE, this will lock the robot before setting values, so you MUST not have the robot locked from where you call this function. If you do, you'll wind up in a deadlock. This behavior is there because otherwise you'd have to lock the robot before calling this function, and normally blockingConnect will be called from a separate thread, and that thread won't be doing anything else with the robot at that time. Other than the aspect of blocking or not the only difference between async and blocking connects (other than the blocking) is that async is run every robot cycle, whereas blocking runs as fast as it can... also blocking will try to reconnect a radio modem if it looks like it didn't get connected in the first place, so blocking can wind up taking 10 or 12 seconds to decide it can't connect, whereas async doesn't try hard at all to reconnect the radio modem (under the assumption the async connect is user driven, so they'll just try again, and so that it won't mess up the sync loop by blocking for so long).
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Gets the closest reading in a region defined by the two points of a rectangle. This goes through all of the registered range devices and locks each, calls cumulativeReadingBox() on it, and then unlocks it. If a reading was found in the box, returns with results.
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Goes through all the range devices and checks them. Find the closest reading from any range device's set of cumulative readings within a polar region or "slice" defined by the given angle range. This function iterates through each registered range device (see addRangeDevice()), calls ArRangeDevice::lockDevice(), uses ArRangeDevice::cumulativeReadingPolar() to find a reading, then calls ArRangeDevice::unlockDevice(). The closest reading in this range device's cumulative buffer within a polar region or "slice" defined by the given angle range is returned. Optionally return the specific angle of the found reading as well. The region searched is the region between a starting angle, sweeping counter-clockwise to the ending angle (0 is straight ahead of the device, -90 to the right, 90 to the left). Note that there is a difference between the region (0, 10) and (10, 0). (0, 10) is a 10-degree span near the front of the device, while (10, 0) is a 350 degree span covering the sides and rear. Similarly, (-60, -30) covers 30 degrees on the right hand side, while (-30, -60) covers 330 degrees. In other words, if you want the smallest section between the two angles, ensure than startAngle < endAngle.
![]() This figure illustrates an example range device and the meanings of arguments and return value.
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Gets the closest reading in a region defined by the two points of a rectangle. This goes through all of the registered range devices and locks each, calls currentReadingBox on it, and then unlocks it.
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Goes through all the range devices and checks them. Find the closest reading from any range device's set of current readings within a polar region or "slice" defined by the given angle range. This function iterates through each registered range device (see addRangeDevice()), calls ArRangeDevice::lockDevice(), uses ArRangeDevice::currentReadingPolar() to find a reading, then calls ArRangeDevice::unlockDevice(). The closest reading within a polar region or "slice" defined by the given angle range is returned. Optionally, the specific angle of the found may be placed in angle, if not NULL. The region searched is the region between startAngle, sweeping counter-clockwise to endAngle (0 is straight ahead of the device, -90 to the right, 90 to the left). Note that therefore there is a difference between e.g. the regions (0, 10) and (10, 0). (0, 10) is a 10-degree span near the front of the device, while (10, 0) is a 350 degree span covering the sides and rear. Similarly, (-60, -30) covers 30 degrees on the right hand side, while (-30, -60) covers 330 degrees. (-90, 90) is 180 degrees in front. (-180, 180) covers all sides of the robot. In other words, if you want the smallest section between the two angles, ensure that startAngle < endAngle.
![]() This figure illustrates an example range device and the meanings of arguments and return value.
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Clears what direct motion commands have been given, so actions work. This clears the direct motion commands so that actions will be allowed to control the robot again. |
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Sends a command to the robot with no arguments.
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Sends a command to the robot with two bytes for argument.
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Sends a command to the robot with an int for argument.
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Sends a command to the robot with a length-prefixed string for argument.
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Sends a command to the robot with a length-prefixed string for argument. Sends a length-prefixed string command to the robot, copying 'size' bytes of data from 'str' into the packet.
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Disables the motors on the robot. This command disables the motors on the robot, if it is connected. |
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Disables the sonar on the robot. This command disables the sonars on the robot, if it is connected. |
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Disconnects from a robot. Disconnects from a robot. This also calls of the DisconnectNormally Callback Functors if the robot was actually connected to a robot when this member was called.
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Enables the motors on the robot. This command enables the motors on the robot, if it is connected. |
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Enables the sonar on the robot. This command enables the sonars on the robot, if it is connected. |
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Returns the first (highest priority) action with the given name (or NULL). Finds the action with the given name... if more than one action has that name it find the one with the highest priority
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Finds a rangeDevice in the robot's list.
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Finds a rangeDevice in the robot's list.
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Finds a task by functor. Finds a task by its functor, searching the entire space of tasks
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Finds a task by name. Finds a task by its name, searching the entire space of tasks
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Finds a user task by functor. Finds a user task by its functor, searching the entire space of tasks
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Finds a user task by name. Finds a user task by its name, searching the entire space of tasks
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Manually sets the flag that says the robot is trying to move for one cycle. This is so that things that might move the robot at any time can can make the robot look like it is otherwise in the TryingToMove state, even if no motion is currently being requested. For example, ArNetworking's teleoperation mode forces TryingToMove at all times while active, not just when requesting motion. This method must be called in each task cycle, it is reset at the end of the task cycle (in state reflection stage) to its natural (non-forced) value.
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Returns the map of actions... don't do this unless you really know what you're doing |
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Gets the battery voltage of the robot (normalized to 12 volt system). This value is averaged over a number of readings, use getBatteryVoltageNow() to get the value most recently received. (Access the number of readings used in the running average with getBatteryVoltageAverageOfNum() and setBatteryVoltageAverageOfNum().) This is a value normalized to 12 volts, if you want what the actual voltage of the robot is use getRealBatteryVoltage().
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Gets the instaneous battery voltage. This is a value normalized to 12 volts, if you want what the actual voltage of the robot is use getRealBatteryVoltage().
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Gets the charge state of the robot (see long docs). Note that this is only available on robots with an firwmare operating system (ARCOS or uARCS) thats at least newer than July of 2005. It'll just be CHARGING_UNKNOWN on everything else always. |
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Gets the multiplier for how many cycles ArRobot waits when connecting.
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Gets the time without a response until connection assumed lost. Gets the number of seconds to go without response from the robot until it is assumed tha tthe connection with the robot has been broken and the disconnect on error events will happen. |
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Gets the control heading. Gets the control heading as an offset from the current heading.
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Gets the number of ms between cycles. Finds the number of milliseconds between cycles, at each cycle is when all packets are processed, all sensors are interpretted, all actions are called, and all user tasks are serviced. Be warned, if you set this too small you could overflow your serial connection.
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Gets the number of ms between cycles to warn over. Sets a time such that if the number of milliseconds between cycles goes over this then there will be an ArLog::log(ArLog::Normal) warning.
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Gets the number of ms between cycles to warn over. Sets a time such that if the number of milliseconds between cycles goes over this then there will be an ArLog::log(ArLog::Normal) warning.
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Gets the connection this instance uses. Gets the connection this instance uses to the actual robot. This is where commands will be sent and packets will be received from
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Gets the length of time a direct motion command will take precedence over actions, in milliseconds |
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Gets the encoderCorrectionCallback. This gets the encoderCorrectionCB, see setEncoderCorrectionCallback for details.
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Get the position of the robot according to the last robot SIP, possibly with gyro correction if installed and enabled, but without any transformations applied.
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Gets the encoder position the robot was at at the given timestamp.
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Gets the encoder transform.
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Gets the n'th byte from the analog input data from the IO packet. This gets the raw IO Analog value, which is a number between 0 and 1024 (2^10). |
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Gets the n'th byte from the analog input data from the IO packet. This gets the IO Analog value converted to a voltage between 0 and 5 voltes. |
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Gets the time the last odometry was received. This gets the ArTime that the last odometry was received
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Gets the time the last packet was received. This gets the ArTime that the last packet was received at
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Gets the current lateral velocity of the robot. Note that this will only be valid if hasLatVel() returns true |
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Gets packet data from the left encoder.
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Gets the delay in odometry readings. This gets the odometry delay, not that this is just information about what the delay is it doesn't cause anything to happen in this class. |
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Gets the original robot config packet information.
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Get the current stored global position of the robot. This position is updated by data reported by the robot as it moves, and may also be changed by other program components, such as a localization process (see moveTo()). This position is also referred to as the robot's "odometry" or "odometric" pose, since the robot uses its odometry data to determine this pose; but it may also incorporate additional data sources such as an onboard gyro. The term "odometric pose" also distinguishes this position by the fact that its coordinate system may be arbitrary, and seperate from any external coordinate system.
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Gets the position the robot was at at the given timestamp.
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Gets the range device list. This gets the list of range devices attached to this robot, do NOT manipulate this list directly. If you want to manipulate use the appropriate addRangeDevice, or remRangeDevice
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Get the position of the robot according to the last robot SIP only, with no correction by the gyro, other devices or software proceses.
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Gets the real battery voltage of the robot. This value is averaged over a number of readings, use getRealBatteryVoltageNow() to get the value most recently received. (Access the number of readings used in the running average with getRealBatteryVoltageAverageOfNum() and setRealBatteryVoltageAverageOfNum().) This is whatever the actual voltage of the robot is, if you want a value normalized to common 12 volts for all robot types use getBatteryVoltage(). If the robot doesn't support a "real" battery voltage, then this method will just return the normal battery voltage (normalized to 12 volt scale). (Most older robots that don't support a real battery voltage have 12 volts batteries anyway.) |
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Gets the instaneous battery voltage. This is whatever the actual voltage of the robot is, if you want a value normalized to a common 12 volts for all robot types use getBatteryVoltage(). If the robot doesn't support this number the voltage will be less than 0 and you should use getBatteryVoltageNow(). |
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Gets packet data from the right encoder.
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Gets the parameters the robot is using.
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Gets the current rotational velocity of the robot. Note that with new firmware versions (ARCOS as of April 2006 or so) this is the velocity reported by the robot. With older firmware this number is calculated using the difference between the robot's reported wheel velocities multiplied by diffConvFactor from the .p (robot parameter) files.
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Gets the range of the last sonar reading for the given sonar.
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Returns the sonar reading for the given sonar.
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How long we stabilize for in ms (0 means no stabilizng). This is the amount of time the robot will stabilize for after it has connected to the robot (it won't report it is connected until after this time is over). |
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Gets the 2 bytes of stall and bumper flags from the robot. See robot operations manual SIP packet documentation for details. |
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Sets the number of milliseconds between state reflection refreshes if the state has not changed |
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This gets the root of the syncronous task tree, only serious developers should use it |
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Gets the global angular position ("theta") of the robot.
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This gets the transform from local coords to global coords.
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This gets the transform for going from global coords to local coords.
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Gets the global X position of the robot.
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Gets the global Y position of the robot.
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Internal function, takes a packet and passes it to the packet handlers, returns true if handled, false otherwise |
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Finds whether a particular range device is attached to this robot or not.
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Internal function, shouldn't be used. Sets up the packet handlers, sets up the sync list and makes the default priority resolver. |
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Questions whether the robot is connected or not.
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Returns true if direct motion commands are blocking actions. Returns the state of direct motion commands: whether actions are allowed or not
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Sees if the robot is done changing to the previously given setHeading. Determines if a setHeading() command is finished, to within a small distance. If delta = 0 (default), the delta distance used is that which was set with setHeadingDoneDiff() (you can get that distnace value with getHeadingDoneDiff(), the default is 3).
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Sees if the robot is done moving the previously given move. Determines if a move command is finished, to within a small distance threshold, "delta". If delta = 0 (default), the delta distance set with setMoveDoneDist() will be used.
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Returns whether the robot is currently running or not.
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Find out if the given sonar reading was newly refreshed by the last incoming SIP received.
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Gets if the robot is trying to move or not. "Trying" to move means that some action or other command has requested motion, but another action or factor has cancelled that request. This is so that if the robot is trying to move, but is prevented (mainly by an action) there'll still be some indication that the robot is trying to move (e.g. we can prevent the sonar from automatically being turned off). Note that this flag doesn't have anything to do with if the robot is really moving or not, to check that, check the current velocities.
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Loads a parameter file (replacing all other params).
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Logs the list of all tasks, strictly for your viewing pleasure.
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Logs the list of user tasks, strictly for your viewing pleasure.
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This function loops once... only serious developers should use it. This function is only for serious developers, it basically runs the loop once. You would use this function if you were wanting to use robot control in some other monolithic program, so you could work within its framework, rather than trying to get it to work in ARIA. |
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Move the given distance forward/backwards. Tells the robot to begin moving the specified distance forward/backwards. ArRobot caches this value, and sends it during the next cycle (with a MOVE or VEL command, depending on the robot).
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Change stored pose (i.e. the value returned by getPose()). The robot-relative positions of the readings of attached range devices, plus sonar readings stored in this object, will also be updated. This variant allows you to manually specify a pose to use as the robot's old pose when updating range device readings (rather than ArRobot's currently stored pose).
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Change stored pose (i.e. the value returned by getPose()). The robot-relative positions of the readings of attached range devices, plus sonar readings stored in this object, will also be updated.
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Packet Handler, internal. Reads in all of the packets that are available to read in, then runs through the list of packet handlers and tries to get each packet handled.
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Processes a motor packet, internal. MPL adding this so that each place the pose interpolation is used it doesn't have to account for the odometry delay |
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Processes a new sonar reading, internal. This function used to just create more sonar readings if it didn't have the sonar number that was given (only the case if that sonar didn't have an entry in the param file), this caused some silent bugs in other peoples code and so was removed... especially since we don't know where the sonar are at if they weren't in the parameter file anyways. |
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Removes an action from the list, by name. Finds the action with the given name and removes it from the actions... if more than one action has that name it find the one with the lowest priority
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Removes an action from the list, by pointer. Finds the action with the given pointer and removes it from the actions... if more than one action has that pointer it find the one with the lowest priority
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Removes a connect callback.
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Removes a callback for when disconnect is called while connected.
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Removes a callback for when disconnection happens because of an error.
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Removes a callback for when a connection to the robot is failed.
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Removes a packet handler from the list of packet handlers.
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Remove a range device from the robot's list, by instance.
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Remove a range device from the robot's list, by name.
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Removes a callback for when the run loop exits for what ever reason.
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Removes a sensor interp tasks by functor.
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Removes a sensor interp tasks by name.
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Removes stabilizing callback.
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Removes a user task from the list of synchronous taskes by functor.
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Removes a user task from the list of synchronous taskes by name.
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Starts a continuous stream of encoder packets. Encoder packet data may then be from getLeftEncoder(), getRightEncoder(). Encoder packets may be stopped with stopEncoderPackets(). |
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Starts the instance to do processing in this thread. This starts the ongoing main loop, which invokes robot tasks until stopped. This function does not return until the loop is stopped by a call to stopRunning(), or if 'true' is given for stopRunIfNotConnected, and the robot connection is closed or fails.
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Starts the instance to do processing in its own new thread. This starts a new thread then has runs through the tasks until stopped. This function doesn't return until something calls stop on this instance. This function returns immediately
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Sets the robot's absolute maximum lateral acceleration. This sets the absolute maximum lateral acceleration the robot will do... the acceleration can also be set by the actions and by setLatAccel, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setLatAccel.
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Sets the robot's absolute maximum lateral deceleration. This sets the absolute maximum lateral deceleration the robot will do... the deceleration can also be set by the actions and by setLatDecel, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setLatDecel.
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Sets the robot's absolute maximum lateral velocity. This sets the absolute maximum lateral velocity the robot will go... the maximum velocity can also be set by the actions and by setLatVelMax, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setLatVelMax.
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Sets the robot's absolute maximum rotational acceleration. This sets the absolute maximum rotational acceleration the robot will do... the acceleration can also be set by the actions and by setRotAccel, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setRotAccel.
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Sets the robot's absolute maximum rotational deceleration. This sets the absolute maximum rotational deceleration the robot will do... the deceleration can also be set by the actions and by setRotDecel, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setRotDecel.
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Sets the robot's absolute maximum rotational velocity. This sets the absolute maximum velocity the robot will go... the maximum velocity can also be set by the actions and by setRotVelMax, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setRotVelMax.
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Sets the robot's absolute maximum translational acceleration. This sets the absolute maximum translational acceleration the robot will do... the acceleration can also be set by the actions and by setTransAccel, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setTransAccel.
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Sets the robot's absolute maximum translational deceleration. This sets the absolute maximum translational deceleration the robot will do... the deceleration can also be set by the actions and by setTransDecel, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setTransDecel.
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Sets the robot's absolute maximum translational velocity. This sets the absolute maximum velocity the robot will go... the maximum velocity can also be set by the actions and by setTransVelMax, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setTransVelMax.
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Sets the multiplier for how many cycles ArRobot waits when connecting.
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Sets the time without a response until connection assumed lost. Sets the number of milliseconds to go without a response from the robot until it is assumed that the connection with the robot has been broken and the disconnect on error events will happen. Note that this will only happen with the default packet handler.
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Sets the number of ms between cycles. Sets the number of milliseconds between cycles, at each cycle is when all packets are processed, all sensors are interpretted, all actions are called, and all user tasks are serviced. Be warned, if you set this too small you could overflow your serial connection.
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Sets the number of ms between cycles to warn over. Sets a time such that if the number of milliseconds between cycles goes over this then there will be an ArLog::log(ArLog::Normal) warning.
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Sets the dead recon position of the robot.
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Sets the delta heading. Sets a delta heading to the robot, it caches this value, and sends it during the next cycle.
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Sets the connection this instance uses. Sets the connection this instance uses to the actual robot. This is where commands will be sent and packets will be received from
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Sets the length of time a direct motion command will take precedence over actions, in milliseconds |
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Sets the encoderCorrectionCallback. This sets the encoderCorrectionCB, this callback returns the robots change in heading, it takes in the change in heading, x, and y, between the previous and current readings.
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Changes the transform directly. This transform is applied to all odometric/encoder poses received. If you simply want to transform the robot's final reported pose (as returned by getPose()) to match an external coordinate system, use moveTo() instead.
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Changes the transform. This transform is applied to all odometric/encoder poses received. If you simply want to transform the robot's final reported pose (as returned by getPose()) to match an external coordinate system, use moveTo() instead.
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Sets the heading. Sets the heading of the robot, it caches this value, and sends it during the next cycle.
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Sets the lateral velocity
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Sets the delay in the odometry readings. Note that this doesn't cause a delay, its informational so that the delay can be adjusted for and causes nothing to happen in this class. |
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Sets the robot to use a passed in set of params (passes ownership). This function will take over ownership of the passed in params |
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Sets the rotational velocity. Sets the rotational velocity of the robot, it caches this value, and sends it during the next cycle.
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How long we should stabilize for in ms (0 disables stabilizing). This is the amount of time the robot will stabilize for after it has connected to the robot (it won't report it is connected until after this time is over). By convention you should never set this lower than what you find the value at (though it will let you) this is so that everything can get itself stabilized before we let things drive.
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Sets the number of milliseconds between state reflection refreshes if the state has not changed |
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Sets the velocity
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Sets the velocity of the wheels independently. Sets the velocity of each of the wheels on the robot independently. ArRobot caches these values, and sends them with a VEL2 command during the next cycle. Note that this cancels both translational velocity AND rotational velocity, and is canceled by any of the other direct motion commands.
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State Reflector, internal. MPL commenting out these lines, and making it so that if nothing is set it'll just stop |
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Stops the robot
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Stops the robot from doing any more processing. This stops this robot's processing cycle. If it is running in a background thread (from runAsync()), it will cause that thread to exit. If it is running synchronously (from run()), then run() will return.
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Sets the state reflection to be inactive (until motion or clearDirectMotion)
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Suspend calling thread until the ArRobot is connected. This will suspend the calling thread until the ArRobot's run loop has managed to connect with the robot. There is an optional paramater of milliseconds to wait for the ArRobot to connect. If msecs is set to 0, it will wait until the ArRobot connects. This function will never return if the robot can not be connected with. If you want to be able to handle that case within the calling thread, you must call waitForConnectOrConnFail().
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Suspend calling thread until the ArRobot is connected or fails to connect. This will suspend the calling thread until the ArRobot's run loop has managed to connect with the robot or fails to connect with the robot. There is an optional paramater of milliseconds to wait for the ArRobot to connect. If msecs is set to 0, it will wait until the ArRobot connects.
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Suspend calling thread until the ArRobot run loop has exited. This will suspend the calling thread until the ArRobot's run loop has exited. There is an optional paramater of milliseconds to wait for the ArRobot run loop to exit . If msecs is set to 0, it will wait until the ArRrobot run loop exits.
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Wake up all threads waiting for connection or connection failure. This will wake all the threads waiting for the robot to be connected or waiting for the robot to fail to connect. |
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Wake up all threads waiting for connection. This will wake all the threads waiting for the robot to be connected. |
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Wake up all threads waiting for the run loop to exit. This will wake all the threads waiting for the run loop to exit. |
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Wake up all threads waiting on this robot. This will wake all the threads waiting for various major state changes in this particular ArRobot. This includes all threads waiting for the robot to be connected and all threads waiting for the run loop to exit. |