Fawkes API
Fawkes Development Version
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#include <>>
Public Member Functions | |
RoboShape (const char *cfg_prefix, fawkes::Logger *logger, fawkes::Configuration *config) | |
Constructor. More... | |
~RoboShape () | |
Desctructor. More... | |
bool | is_round_robot () |
Returns if the robot is round. More... | |
bool | is_angular_robot () |
Returns if the robot is angular. More... | |
bool | is_robot_reading_for_rad (float anglerad, float length) |
Check if the reading is 'in' the robot. More... | |
bool | is_robot_reading_for_deg (float angledeg, float length) |
Check if the reading is 'in' the robot. More... | |
float | get_robot_length_for_rad (float anglerad) |
return the length of the robot for a specific angle More... | |
float | get_robot_length_for_deg (float angledeg) |
return the length of the robot for a specific angle More... | |
float | get_radius () |
Returns the radius of the robot if its round. More... | |
float | get_complete_radius () |
Returns the maximum radius of the robot if its round. More... | |
float | get_width_x () |
Returns the width-x of the angular robot. More... | |
float | get_width_y () |
Returns the width-y of the angular robot. More... | |
float | get_complete_width_x () |
Returns the complete x width of the angular robot. More... | |
float | get_complete_width_y () |
Returns the complete x width of the angular robot. More... | |
float | get_laser_offset_x () |
Returns the laser offset in x direction of the robot. More... | |
float | get_laser_offset_y () |
Returns the laser offset in y direction of the robot. More... | |
float | get_angle_front_left () const |
Get angle to the front left corner of the robot. More... | |
float | get_angle_front_right () const |
Get angle to the front right corner of the robot. More... | |
float | get_angle_back_left () const |
Get angle to of the rear left corner robot. More... | |
float | get_angle_back_right () const |
Get angle to of the rear right corner robot. More... | |
float | get_angle_left () const |
Get angle to middle of the left side of the robot. More... | |
float | get_angle_right () const |
Get angle to middle of the right side of the robot. More... | |
float | get_angle_front () const |
Get angle to middle of the front side of the robot. More... | |
float | get_angle_back () const |
Get angle to middle of the back side of the robot. More... | |
This is a class containing all roboshape information. All methods have been implemented but round robots.
Definition at line 37 of file roboshape.h.
fawkes::RoboShape::RoboShape | ( | const char * | cfg_prefix, |
fawkes::Logger * | logger, | ||
fawkes::Configuration * | config | ||
) |
Constructor.
cfg_prefix | The prefix of the config node, where the roboshape values are found |
logger | Pointer to the fawkes logger |
config | Pointer to the fawkes configuration. |
Definition at line 52 of file roboshape.cpp.
fawkes::RoboShape::~RoboShape | ( | ) |
Desctructor.
Definition at line 139 of file roboshape.cpp.
float fawkes::RoboShape::get_angle_back | ( | ) | const |
Get angle to middle of the back side of the robot.
Get angle to middle of the rear side of the robot.
Definition at line 250 of file roboshape.cpp.
References is_round_robot(), and fawkes::normalize_mirror_rad().
float fawkes::RoboShape::get_angle_back_left | ( | ) | const |
Get angle to of the rear left corner robot.
Get angle to the rear left corner of the robot.
Definition at line 205 of file roboshape.cpp.
float fawkes::RoboShape::get_angle_back_right | ( | ) | const |
Get angle to of the rear right corner robot.
Get angle to the rear right corner of the robot.
Definition at line 214 of file roboshape.cpp.
float fawkes::RoboShape::get_angle_front | ( | ) | const |
Get angle to middle of the front side of the robot.
Definition at line 241 of file roboshape.cpp.
float fawkes::RoboShape::get_angle_front_left | ( | ) | const |
Get angle to the front left corner of the robot.
Definition at line 187 of file roboshape.cpp.
float fawkes::RoboShape::get_angle_front_right | ( | ) | const |
Get angle to the front right corner of the robot.
Definition at line 196 of file roboshape.cpp.
float fawkes::RoboShape::get_angle_left | ( | ) | const |
Get angle to middle of the left side of the robot.
Definition at line 223 of file roboshape.cpp.
float fawkes::RoboShape::get_angle_right | ( | ) | const |
Get angle to middle of the right side of the robot.
Definition at line 232 of file roboshape.cpp.
float fawkes::RoboShape::get_complete_radius | ( | ) |
Returns the maximum radius of the robot if its round.
Definition at line 344 of file roboshape.cpp.
float fawkes::RoboShape::get_complete_width_x | ( | ) |
Returns the complete x width of the angular robot.
Definition at line 387 of file roboshape.cpp.
float fawkes::RoboShape::get_complete_width_y | ( | ) |
Returns the complete x width of the angular robot.
Returns the complete y width of the angular robot.
Definition at line 401 of file roboshape.cpp.
float fawkes::RoboShape::get_laser_offset_x | ( | ) |
Returns the laser offset in x direction of the robot.
Definition at line 415 of file roboshape.cpp.
float fawkes::RoboShape::get_laser_offset_y | ( | ) |
Returns the laser offset in y direction of the robot.
Definition at line 424 of file roboshape.cpp.
float fawkes::RoboShape::get_radius | ( | ) |
Returns the radius of the robot if its round.
Definition at line 330 of file roboshape.cpp.
float fawkes::RoboShape::get_robot_length_for_deg | ( | float | angledeg | ) |
return the length of the robot for a specific angle
Returns the robots length for a specific angle.
angledeg | is the angle in degree. |
Definition at line 321 of file roboshape.cpp.
References is_round_robot(), and fawkes::Logger::log_error().
float fawkes::RoboShape::get_robot_length_for_rad | ( | float | anglerad | ) |
return the length of the robot for a specific angle
Returns the robots length for a specific angle.
anglerad | is the angle in radians. |
Definition at line 260 of file roboshape.cpp.
Referenced by is_angular_robot(), and fawkes::RoboShapeColli::RoboShapeColli().
float fawkes::RoboShape::get_width_x | ( | ) |
Returns the width-x of the angular robot.
Definition at line 359 of file roboshape.cpp.
float fawkes::RoboShape::get_width_y | ( | ) |
Returns the width-y of the angular robot.
Definition at line 373 of file roboshape.cpp.
bool fawkes::RoboShape::is_angular_robot | ( | ) |
Returns if the robot is angular.
Definition at line 156 of file roboshape.cpp.
References get_robot_length_for_rad().
bool fawkes::RoboShape::is_robot_reading_for_deg | ( | float | angledeg, |
float | length | ||
) |
Check if the reading is 'in' the robot.
Returns, if a reading length is in the robot.
angledeg | is float containing the angle of the reading in degree. |
length | containing the length of the reading. |
Definition at line 178 of file roboshape.cpp.
bool fawkes::RoboShape::is_robot_reading_for_rad | ( | float | anglerad, |
float | length | ||
) |
Check if the reading is 'in' the robot.
Returns, if a reading length is in the robot.
anglerad | is float containing the angle of the reading in radians. |
length | containing the length of the reading. |
Definition at line 167 of file roboshape.cpp.
References fawkes::deg2rad().
bool fawkes::RoboShape::is_round_robot | ( | ) |
Returns if the robot is round.
Definition at line 147 of file roboshape.cpp.
Referenced by get_angle_back(), and get_robot_length_for_deg().