#include <ArSickLogger.h>
Public Methods | |
ArSickLogger (ArRobot *robot, ArSick *sick, double distDiff, double degDiff, const char *filename) | |
Constructor. More... | |
virtual | ~ArSickLogger (void) |
Destructor. | |
void | addTagToLog (const char *str,...) |
Adds a string to the log file at the given moment. More... | |
void | setDistDiff (double distDiff) |
Sets the distance at which the robot will take a new reading. | |
double | getDistDiff (void) |
Gets the distance at which the robot will take a new reading. | |
void | setDegDiff (double degDiff) |
Sets the degrees to turn at which the robot will take a new reading. | |
double | getDegDiff (void) |
Gets the degrees to turn at which the robot will take a new reading. | |
void | robotTask (void) |
The task which gets attached to the robot. |
This class has a pointer to a robot and a laser... every time the robot has EITHER moved the distDiff, or turned the degDiff, it will take the current readings from the laser and log them into the log file given as the filename to the constructor.
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Constructor. Make sure you have called ArSick::configure on your laser before you make this class
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Adds a string to the log file at the given moment. The robot MUST be locked before you call this function, so that this function is not adding to a list as the robotTask is using it. This function takes the given tag |