#include <SfSystem.h>
Static Public Methods | |
void | init () |
initializes Saphira system, including Aria; called by the standard Saphira client on startup. | |
SfRobot * | robot () |
Current robot object; Saphira 8.0 has only one User programs can access this with the SfROBOT macro. | |
SfSonarDevice * | sonar () |
sonar device object. | |
SfLaserDevice * | laser () |
laser device object. | |
SfIrrfDevice * | irrf () |
IR rangefinder device object. | |
double | getX () |
Gets the robot current X value, in mm. | |
double | getY () |
Gets the robot current Y value, in mm. | |
double | getTh () |
Gets the robot current heading, in degrees. | |
ArPose | getRwPose () |
Gets the robot current pose object. | |
Static Public Attributes | |
SfArtifactList * | artList |
artifact list. | |
SfColbertStream * | ourColbert |
main Colbert stream for reading/writing Colbert commands. | |
SfFr * | frame |
display frame; user programs can acces this with the SfFRAME macro. |
The Saphira system class is a static class that holds basic information about the single robot server for which Saphira is the client. It has useful functions to get the robot object, device buffers, artifact list, connections to the robot server, and so on.
On startup of the standard Saphira client, all the items in the Sf class are initialized by calling init().