Represents Robotino's odoemtry module.
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#include <Odometry.h>
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void | setComId (const ComId &id) |
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void | readings (double *x, double *y, double *phi, unsigned int *sequence=0) const |
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bool | set (double x, double y, double phi, int timeout=0) |
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virtual void | readingsEvent (double x, double y, double phi, float vx, float vy, float omega, unsigned int sequence) |
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virtual void | mapFrameCoordinatesEvent (double x, double y, double phi) |
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virtual void | mapImagePixelCoordinatesEvent (int x, int y, double phi) |
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| ComObject () |
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virtual | ~ComObject () |
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ComId | comId () const |
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Represents Robotino's odoemtry module.
virtual void rec::robotino::api2::Odometry::mapFrameCoordinatesEvent |
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double |
x, |
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double |
y, |
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double |
phi |
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) |
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virtual |
Called when new odometry data is available.
- Parameters
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x | Global x position of Robotino in the map frame in m. |
y | Global y position of Robotino in the map frame in m. |
phi | Global orientation of Robotino in the map frame in rad. |
- See also
- Com::processEvents
virtual void rec::robotino::api2::Odometry::mapImagePixelCoordinatesEvent |
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int |
x, |
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int |
y, |
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double |
phi |
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) |
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virtual |
Called when new odometry data is available.
- Parameters
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x | x-position of Robotino in the map image in pixel. |
y | y-position of Robotino in the map image in pixel. |
phi | Global orientation of Robotino in the map frame in rad. |
- See also
- Com::processEvents
void rec::robotino::api2::Odometry::readings |
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double * |
x, |
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double * |
y, |
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double * |
phi, |
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unsigned int * |
sequence = 0 |
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) |
| const |
- Parameters
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x | Global x position of Robotino in m. |
y | Global y position of Robotino in m. |
phi | Global orientation of Robotino in rad. |
sequence | The sequence number of the current readings. When starting your application the sequence number is 0. The sequence number is increased 1 each time the odometry is updated. |
- Exceptions
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virtual void rec::robotino::api2::Odometry::readingsEvent |
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double |
x, |
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double |
y, |
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double |
phi, |
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float |
vx, |
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float |
vy, |
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float |
omega, |
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unsigned int |
sequence |
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) |
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virtual |
Called when new odometry data is available.
- Parameters
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x | Global x position of Robotino in m. |
y | Global y position of Robotino in m. |
phi | Global orientation of Robotino in rad. |
vx | x velocity of Robotino. |
vy | y velocity of Robotino. |
omega | Angular velocity of Robotino. |
sequence | The sequence number of the current readings. When starting your application the sequence number is 0. The sequence number is increased 1 each time the odometry is updated. |
- See also
- Com::processEvents
bool rec::robotino::api2::Odometry::set |
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double |
x, |
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double |
y, |
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double |
phi, |
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int |
timeout = 0 |
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) |
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Set Robotino's odometry to the given coordinates
- Parameters
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x | Global x position in m |
y | Global y position in m |
phi | Global phi orientation in rad |
timeout | Timeout parameter in Milliseconds If 0 the function returns true immediately. If -1 the function blocks until the odometry is set. If >0 the function blocks until the odometry is set or if the operation timed out. In the case of timeout the function returns false. |
- Exceptions
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void rec::robotino::api2::Odometry::setComId |
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const ComId & |
id | ) |
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Sets the associated communication object.
- Parameters
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id | The id of the associated communication object. |
- Exceptions
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The documentation for this class was generated from the following file:
- C:/srcs/git/openrobotino/api2/lib/rec/robotino/api2/Odometry.h