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Sf Class Reference

Saphira system definition. More...

#include <SfSystem.h>

List of all members.

Static Public Methods

void init ()
 initializes Saphira system, including Aria; called by the standard Saphira client on startup.

SfRobotrobot ()
 Current robot object; Saphira 8.0 has only one User programs can access this with the SfROBOT macro.

SfSonarDevicesonar ()
 sonar device object.

SfLaserDevicelaser ()
 laser device object.

SfIrrfDeviceirrf ()
 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

SfArtifactListartList
 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.


Detailed Description

Saphira system definition.

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().


The documentation for this class was generated from the following files:
Generated on Tue Nov 12 17:49:34 2002 for Saphira by doxygen1.2.13.1 written by Dimitri van Heesch, © 1997-2001