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ArRobotParams Class Reference

Contains the robot parameters, according to the parameter file. More...

#include <ArRobotParams.h>

List of all members.

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.


Detailed Description

Contains the robot parameters, according to the parameter file.


The documentation for this class was generated from the following files:
Generated on Tue Nov 12 17:44:04 2002 for Aria by doxygen1.2.13.1 written by Dimitri van Heesch, © 1997-2001