Fawkes API Fawkes Development Version
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This is a class containing all roboshape information. More...
#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 31 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 46 of file roboshape.cpp.
References fawkes::Configuration::get_float(), fawkes::Configuration::get_int(), fawkes::Logger::log_info(), and fawkes::normalize_mirror_rad().
fawkes::RoboShape::~RoboShape | ( | ) |
Desctructor.
Definition at line 133 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 244 of file roboshape.cpp.
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 199 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 208 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 235 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 181 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 190 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 217 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 226 of file roboshape.cpp.
float fawkes::RoboShape::get_complete_radius | ( | ) |
Returns the maximum radius of the robot if its round.
Definition at line 338 of file roboshape.cpp.
References is_round_robot(), and fawkes::Logger::log_error().
Referenced by get_complete_width_x(), get_complete_width_y(), and get_robot_length_for_rad().
float fawkes::RoboShape::get_complete_width_x | ( | ) |
Returns the complete x width of the angular robot.
Definition at line 381 of file roboshape.cpp.
References get_complete_radius(), and is_angular_robot().
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 395 of file roboshape.cpp.
References get_complete_radius(), and is_angular_robot().
float fawkes::RoboShape::get_laser_offset_x | ( | ) |
Returns the laser offset in x direction of the robot.
Definition at line 409 of file roboshape.cpp.
float fawkes::RoboShape::get_laser_offset_y | ( | ) |
Returns the laser offset in y direction of the robot.
Definition at line 418 of file roboshape.cpp.
float fawkes::RoboShape::get_radius | ( | ) |
Returns the radius of the robot if its round.
Definition at line 324 of file roboshape.cpp.
References is_round_robot(), and fawkes::Logger::log_error().
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 315 of file roboshape.cpp.
References fawkes::deg2rad(), and get_robot_length_for_rad().
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 254 of file roboshape.cpp.
References get_complete_radius(), is_angular_robot(), is_round_robot(), and fawkes::normalize_mirror_rad().
Referenced by get_robot_length_for_deg(), is_robot_reading_for_rad(), and fawkes::RoboShapeColli::RoboShapeColli().
float fawkes::RoboShape::get_width_x | ( | ) |
Returns the width-x of the angular robot.
Definition at line 353 of file roboshape.cpp.
References is_angular_robot(), and fawkes::Logger::log_error().
float fawkes::RoboShape::get_width_y | ( | ) |
Returns the width-y of the angular robot.
Definition at line 367 of file roboshape.cpp.
References is_angular_robot(), and fawkes::Logger::log_error().
bool fawkes::RoboShape::is_angular_robot | ( | ) |
Returns if the robot is angular.
Definition at line 150 of file roboshape.cpp.
Referenced by get_complete_width_x(), get_complete_width_y(), get_robot_length_for_rad(), get_width_x(), and get_width_y().
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 172 of file roboshape.cpp.
References fawkes::deg2rad(), and is_robot_reading_for_rad().
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 161 of file roboshape.cpp.
References get_robot_length_for_rad().
Referenced by is_robot_reading_for_deg().
bool fawkes::RoboShape::is_round_robot | ( | ) |
Returns if the robot is round.
Definition at line 141 of file roboshape.cpp.
Referenced by get_complete_radius(), get_radius(), and get_robot_length_for_rad().