#include <ArSensorReading.h>
Public Methods | |
ArSensorReading (double xPos=0.0, double yPos=0.0, double thPos=0.0) | |
Constructor, the three args are the physical location of the sonar. More... | |
int | getRange (void) |
Gets the range of the reading. More... | |
bool | isNew (unsigned int counter) |
Given the counter from the robot, it returns whether the reading is new. More... | |
double | getX (void) |
Gets the X location of the sonar reading. | |
double | getY (void) |
Gets the Y location of the sonar reading. | |
ArPose | getPose (void) |
Gets the position of the reading
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ArPose | getPoseTaken (void) |
Gets the pose the reading was taken at. | |
ArPose | getEncoderPoseTaken (void) |
Gets the encoder pose the reading was taken at. | |
double | getSensorX (void) |
Gets the X location of the sonar on the robot. | |
double | getSensorY (void) |
Gets the Y location of the sensor on the robot. | |
double | getSensorTh (void) |
Gets the heading of the sensor on the robot. | |
ArPose | getSensorPosition (void) |
Gets the sensors position on the robot. More... | |
double | getSensorDX (void) |
Gets the cos component of the heading of the sensor reading. | |
double | getSensorDY (void) |
Gets the sin component of the heading of the sensor reading. | |
double | getXTaken (void) |
Gets the X locaiton of the robot when the reading was received. | |
double | getYTaken (void) |
Gets the Y location of the robot when the reading was received. | |
double | getThTaken (void) |
Gets the th (heading) of the robot when the reading was received. | |
unsigned int | getCounterTaken (void) |
Gets the counter from when the reading arrived. More... | |
void | newData (int range, ArPose robotPose, ArPose encoderPose, ArTransform trans, unsigned int counter, ArTime timeTaken) |
Takes the data and makes the reading reflect it. More... | |
void | ArSensorReading::newData (int sx, int sy, ArPose robotPose, ArPose encoderPose, ArTransform trans, unsigned int counter, ArTime timeTaken) |
Takes the data and makes the reading reflect it. | |
void | resetSensorPosition (double xPos, double yPos, double thPos, bool forceComputation=false) |
Resets the sensors idea of its physical location on the robot. More... | |
void | applyTransform (ArTransform trans) |
Applies a transform to the reading position, and where it was taken. More... |
This class holds sensor data and a sensor reading... it can happen that it contains the data for a sonar, but not the reading, in which case the range (from getRange) will be -1, and the counter it was taken (from getCounterTaken) will be 0, also it will never be new (from isNew)
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Constructor, the three args are the physical location of the sonar.
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Applies a transform to the reading position, and where it was taken.
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Gets the counter from when the reading arrived.
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Gets the range of the reading.
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Gets the sensors position on the robot.
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Given the counter from the robot, it returns whether the reading is new.
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Takes the data and makes the reading reflect it.
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Resets the sensors idea of its physical location on the robot.
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