#include <ArRobotParams.h>
Inheritance diagram for ArRobotParams:
Use ArRobot::getRobotParams() after a successful robot connection to obtain a pointer to an ArRobotParams instance containing the values read from the files.
See Robot Parameter Files for a description of the robot parameter files.
ArRobotParams is a subclass of ArConfig which contains some useful methods and features.
Public Member Functions | |
| ArRobotParams () | |
| Constructor. | |
| int | getAbsoluteMaxLatVelocity (void) const |
| Returns the max lateral velocity of the robot. | |
| int | getAbsoluteMaxRotVelocity (void) const |
| Returns the max rotational velocity of the robot. | |
| int | getAbsoluteMaxVelocity (void) const |
| Returns the max velocity of the robot. | |
| double | getAngleConvFactor (void) const |
| Returns the angle conversion factor. | |
| const char * | getClassName (void) const |
| Returns the class from the parameter file. | |
| const char * | getCompassPort () const |
| const char * | getCompassType () const |
| bool | getConnectLaser (int laserNumber=1) const |
| If the laser should be auto connected. | |
| double | getDiffConvFactor (void) const |
| Returns the wheel velocity difference to angular velocity conv factor. | |
| double | getDistConvFactor (void) const |
| Returns the distance conversion factor. | |
| int | getGPSBaud () const |
| The Baud rate to use when connecting to the GPS. | |
| const char * | getGPSPort () const |
| The serial port the GPS is on. | |
| const char * | getGPSType () const |
| int | getGPSX () const |
| The X (forward-back) location of the GPS (antenna) on the robot. | |
| int | getGPSY () const |
| The Y (left-right) location of the GPS (antenna) on the robot. | |
| double | getGyroScaler (void) const |
| Returns the multiplier for the Analog Gyro. | |
| int | getIRCycles (int number) const |
| int | getIRType (int number) const |
| int | getIRX (int number) const |
| Returns the X location of the given numbered IR. | |
| int | getIRY (int number) const |
| Returns the Y location of the given numbered IR. | |
| const char * | getLaserAutoBaudChoice (int laserNumber=1) const |
| Gets the string that is choice for auto baud the laser should use. | |
| int | getLaserCumulativeBufferSize (int laserNumber=1) const |
| The cumulative buffer size to use for the laser. | |
| const char * | getLaserDegreesChoice (int laserNumber=1) const |
| Gets the string that is choice for the number of degrees the laser should use. | |
| const char * | getLaserEndDegrees (int laserNumber=1) const |
| Gets the string that is the degrees the laser should end on. | |
| bool | getLaserFlipped (int laserNumber=1) const |
| If the laser is flipped on the robot. | |
| const char * | getLaserIgnore (int laserNumber=1) const |
| Gets the string that is the readings the laser should ignore. | |
| const char * | getLaserIncrement (int laserNumber=1) const |
| Gets the string that is choice for the increment the laser should use. | |
| const char * | getLaserIncrementChoice (int laserNumber=1) const |
| Gets the string that is choice for increment the laser should use. | |
| int | getLaserMaxRange (int laserNumber=1) const |
| The max range to use the laser. | |
| const char * | getLaserPort (int laserNumber=1) const |
| What port the laser is on. | |
| const char * | getLaserPortType (int laserNumber=1) const |
| What type of port the laser is on. | |
| bool | getLaserPossessed (void) const |
| Returns if the robot has a laser (according to param file). | |
| bool | getLaserPowerControlled (int laserNumber=1) const |
| If the laser power is controlled by the serial port lines. | |
| const char * | getLaserReflectorBitsChoice (int laserNumber=1) const |
| Gets the string that is choice for reflectorBits the laser should use. | |
| const char * | getLaserStartDegrees (int laserNumber=1) const |
| Gets the string that is the degrees the laser should start on. | |
| const char * | getLaserStartingBaudChoice (int laserNumber=1) const |
| Gets the string that is choice for starting baud the laser should use. | |
| double | getLaserTh (int laserNumber=1) const |
| The rotation of the laser on the robot. | |
| const char * | getLaserType (int laserNumber=1) const |
| What type of laser this is. | |
| const char * | getLaserUnitsChoice (int laserNumber=1) const |
| Gets the string that is choice for units the laser should use. | |
| int | getLaserX (int laserNumber=1) const |
| The X location of the laser. | |
| int | getLaserY (int laserNumber=1) const |
| The Y location of the laser. | |
| int | getLaserZ (int laserNumber=1) const |
| The height of the laser off of the ground (0 means unknown). | |
| int | getLatAccel (void) const |
| Gets the lat accel from param file (0 uses microcontroller param). | |
| int | getLatDecel (void) const |
| Gets the lat decel from param file (0 uses microcontroller param). | |
| int | getLatVelMax (void) const |
| Gets the max lat vel from param file (0 uses microcontroller param). | |
| int | getNumIR (void) const |
| Returns the number of IRs. | |
| int | getNumSonar (void) const |
| Returns the number of sonar. | |
| double | getRangeConvFactor (void) const |
| Returns the sonar range conversion factor. | |
| bool | getRequestEncoderPackets (void) const |
| Returns true if encoder packets are automatically requested upon connection to the robot. | |
| bool | getRequestIOPackets (void) const |
| Returns true if IO packets are automatically requested upon connection to the robot. | |
| double | getRobotDiagonal (void) const |
| Returns the robot diagonal (half-height to diagonal of octagon). | |
| double | getRobotLength (void) const |
| Returns the robot's length. | |
| double | getRobotLengthFront (void) const |
| Returns the robot's length to the front of the robot. | |
| double | getRobotLengthRear (void) const |
| Returns the robot's length to the rear of the robot. | |
| double | getRobotRadius (void) const |
| Returns the robot's radius. | |
| double | getRobotWidth (void) const |
| Returns the robot's width. | |
| int | getRotAccel (void) const |
| Gets the rot accel from param file (0 uses microcontroller param). | |
| int | getRotDecel (void) const |
| Gets the rot decel from param file (0 uses microcontroller param). | |
| int | getRotVelMax (void) const |
| Gets the max rot vel from param file (0 uses microcontroller param). | |
| int | getSonarTh (int number) const |
| Returns the heading of the given numbered sonar disc. | |
| int | getSonarX (int number) const |
| Returns the X location of the given numbered sonar disc. | |
| int | getSonarY (int number) const |
| Returns the Y location of the given numbered sonar disc. | |
| const char * | getSubClassName (void) const |
| Returns the subclass from the parameter file. | |
| int | getSwitchToBaudRate (void) const |
| Returns the baud rate set in the param to talk to the robot at. | |
| int | getTransAccel (void) const |
| Gets the trans accel from param file (0 uses microcontroller param). | |
| int | getTransDecel (void) const |
| Gets the trans decel from param file (0 uses microcontroller param). | |
| int | getTransVelMax (void) const |
| Gets the max trans vel from param file (0 uses microcontroller param). | |
| double | getVel2Divisor (void) const |
| Returns the multiplier for VEL2 commands. | |
| double | getVelConvFactor (void) const |
| Returns the velocity conversion factor. | |
| bool | hasLatVel (void) const |
| Whether we have lateral control or not. | |
| bool | hasMoveCommand (void) const |
| Returns if the robot has a built in move command. | |
| bool | hasSettableAccsDecs (void) const |
| Whether the accelerations and decelerations are settable or not. | |
| bool | hasSettableVelMaxes (void) const |
| Gets whether the VelMax values are settable or not. | |
| bool | haveFrontBumpers (void) const |
| Returns true if the robot has front bumpers. | |
| bool | haveIR (int number) const |
| Returns if the IR of the given number is valid. | |
| bool | haveNewTableSensingIR (void) const |
| Returns true if the robot's table sensing IR bits are sent in the 4th-byte of the IO packet. | |
| bool | haveRearBumpers (void) const |
| Returns true if the robot has rear bumpers. | |
| bool | haveSonar (int number) const |
| Returns if the sonar of the given number is valid. | |
| bool | haveTableSensingIR (void) const |
| Returns true if the robot has table sensing IR. | |
| bool | isHolonomic (void) const |
| Returns whether the robot is holonomic or not. | |
| int | numFrontBumpers (void) const |
| Returns the number of front bumpers. | |
| int | numRearBumpers (void) const |
| Returns the number of rear bumpers. | |
| bool | save (void) |
| Saves it to the subtype.p in Aria::getDirectory/params. | |
| virtual | ~ArRobotParams () |
| Destructor. | |
Protected Types | |
| enum | IRInfo { IR_X, IR_Y, IR_TYPE, IR_CYCLES } |
| enum | SonarInfo { SONAR_X, SONAR_Y, SONAR_TH } |
Protected Member Functions | |
| const std::list< ArArgumentBuilder * > * | getIRUnits (void) |
| LaserData * | getLaserData (int laserNumber) |
| const LaserData * | getLaserData (int laserNumber) const |
| const std::list< ArArgumentBuilder * > * | getSonarUnits (void) |
| void | internalSetIR (int num, int type, int cycles, int x, int y) |
| void | internalSetSonar (int num, int x, int y, int th) |
| bool | parseIRUnit (ArArgumentBuilder *builder) |
| bool | parseSonarUnit (ArArgumentBuilder *builder) |
Protected Attributes | |
| int | myAbsoluteMaxLatVelocity |
| int | myAbsoluteMaxRVelocity |
| int | myAbsoluteMaxVelocity |
| double | myAngleConvFactor |
| char | myClass [1024] |
| char | myCompassPort [256] |
| char | myCompassType [256] |
| double | myDiffConvFactor |
| double | myDistConvFactor |
| bool | myFrontBumpers |
| std::list< ArArgumentBuilder * > | myGetIRUnitList |
| std::list< ArArgumentBuilder * > | myGetSonarUnitList |
| int | myGPSBaud |
| char | myGPSPort [256] |
| bool | myGPSPossessed |
| char | myGPSType [256] |
| int | myGPSX |
| int | myGPSY |
| double | myGyroScaler |
| bool | myHasLatVel |
| bool | myHaveMoveCommand |
| bool | myHolonomic |
|
std::map< int, std::map< int, int > > | myIRMap |
|
ArRetFunctorC< const std::list< ArArgumentBuilder * > *, ArRobotParams > | myIRUnitGetFunctor |
|
ArRetFunctor1C< bool, ArRobotParams, ArArgumentBuilder * > | myIRUnitSetFunctor |
| std::map< int, LaserData * > | myLasers |
| int | myLatAccel |
| int | myLatDecel |
| int | myLatVelMax |
| bool | myNewTableSensingIR |
| int | myNumFrontBumpers |
| int | myNumIR |
| int | myNumRearBumpers |
| int | myNumSonar |
| double | myRangeConvFactor |
| bool | myRearBumpers |
| bool | myRequestEncoderPackets |
| bool | myRequestIOPackets |
| double | myRobotDiagonal |
| double | myRobotLength |
| double | myRobotLengthFront |
| double | myRobotLengthRear |
| double | myRobotRadius |
| double | myRobotWidth |
| int | myRotAccel |
| int | myRotDecel |
| int | myRotVelMax |
| bool | mySettableAccsDecs |
| bool | mySettableVelMaxes |
|
std::map< int, std::map< int, int > > | mySonarMap |
|
ArRetFunctorC< const std::list< ArArgumentBuilder * > *, ArRobotParams > | mySonarUnitGetFunctor |
|
ArRetFunctor1C< bool, ArRobotParams, ArArgumentBuilder * > | mySonarUnitSetFunctor |
| char | mySubClass [1024] |
| int | mySwitchToBaudRate |
| bool | myTableSensingIR |
| int | myTransAccel |
| int | myTransDecel |
| int | myTransVelMax |
| double | myVel2Divisor |
| double | myVelConvFactor |
|
|
Returns if the robot has a laser (according to param file).
|
1.4.2