#include <ArRobotParams.h>
Public Methods | |
ArRobotParams (void) | |
Constructor. | |
virtual | ~ArRobotParams (void) |
Destructor. | |
void | init (ArRobotParamFile *param) |
Given the robot parameters in preference form, fills in this instance. | |
std::string | getClass (void) |
Returns the class from the parameter file. | |
std::string | getSubClass (void) |
Returns the subclass from the parameter file. | |
double | getRobotRadius (void) |
Returns the robot's radius. | |
double | getRobotDiagonal (void) |
Returns the robot diagonal (half-height to diagonal of octagon). | |
bool | isHolonomic (void) |
Returns whether the robot is holonomic or not. | |
bool | hasMoveCommand (void) |
Returns if the robot has a built in move command. | |
int | getMaxVelocity (void) |
Returns the max velocity of the robot. | |
int | getMaxRotVelocity (void) |
Returns the max rotational velocity of the robot. | |
bool | getRequestIOPackets (void) |
Returns true if IO packets are automatically requested upon connection to the robot. | |
double | getAngleConvFactor (void) |
Returns the angle conversion factor. | |
double | getDistConvFactor (void) |
Returns the distance conversion factor. | |
double | getVelConvFactor (void) |
Returns the velocity conversion factor. | |
double | getRangeConvFactor (void) |
Returns the sonar range conversion factor. | |
double | getDiffConvFactor (void) |
Returns the wheel velocity difference to angular velocity conv factor. | |
double | getVel2Divisor (void) |
Returns the multiplier for VEL2 commands. | |
bool | haveTableSensingIR (void) |
Returns true if the robot has table sensing IR. | |
bool | haveNewTableSensingIR (void) |
Returns true if the robot's table sensing IR bits are sent in the 4th-byte of the IO packet. | |
bool | haveFrontBumpers (void) |
Returns true if the robot has front bumpers. | |
int | numFrontBumpers (void) |
Returns the number of front bumpers. | |
bool | haveRearBumpers (void) |
Returns true if the robot has rear bumpers. | |
int | numRearBumpers (void) |
Returns the number of rear bumpers. | |
int | getNumSonar (void) |
Returns the number of sonar. | |
bool | haveSonar (int number) |
Returns if the sonar of the given number is valid. | |
int | getSonarX (int number) |
Returns the X location of the given numbered sonar disc. | |
int | getSonarY (int number) |
Returns the Y location of the given numbered sonar disc. | |
int | getSonarTh (int number) |
Returns the heading of the given numbered sonar disc. | |
bool | getLaserPossessed (void) |
Returns if the robot has a laser (according to param file). | |
std::string | getLaserPort (void) |
What port the laser is on. | |
bool | getLaserPowerControlled (void) |
If the laser power is controlled by the serial port lines. | |
bool | getLaserFlipped (void) |
If the laser is flipped on the robot. | |
int | getLaserX (void) |
The X location of the laser. | |
int | getLaserY (void) |
The Y location of the laser. |