NorthStar.h File Reference

In "rec/robotino/api2/c/NorthStar.h" you can find functions for reading Robotino's bumper. More...

#include "rec/robotino/api2/c/globals.h"
#include "rec/robotino/api2/c/Com.h"

Go to the source code of this file.

Macros
#define	INVALID_NORTHSTARID   -1

Typedefs
typedef int	NorthStarId

Functions
DLLEXPORT NorthStarId	NorthStar_construct ()
DLLEXPORT BOOL	NorthStar_destroy (NorthStarId id)
DLLEXPORT BOOL	NorthStar_setComId (NorthStarId id, ComId comId)
DLLEXPORT unsigned int	NorthStar_sequenceNo (NorthStarId id)
DLLEXPORT int	NorthStar_roomId (NorthStarId id)
DLLEXPORT unsigned int	NorthStar_numSpotsVisible (NorthStarId id)
DLLEXPORT int	NorthStar_posX (NorthStarId id)
DLLEXPORT int	NorthStar_posY (NorthStarId id)
DLLEXPORT float	NorthStar_posTheta (NorthStarId id)
DLLEXPORT unsigned int	NorthStar_magSpot0 (NorthStarId id)
DLLEXPORT unsigned int	NorthStar_magSpot1 (NorthStarId id)
DLLEXPORT BOOL	NorthStar_setRoomId (NorthStarId id, int roomId)
DLLEXPORT BOOL	NorthStar_setCalState (NorthStarId id, unsigned int calState)
DLLEXPORT BOOL	NorthStar_setCalFlag (NorthStarId id, unsigned int calFlag)
DLLEXPORT BOOL	NorthStar_setCalDistance (NorthStarId id, unsigned int calDistance)
DLLEXPORT BOOL	NorthStar_setCeilingCal (NorthStarId id, float ceilingCal)

Detailed Description

In "rec/robotino/api2/c/NorthStar.h" you can find functions for reading Robotino's bumper.

Use NorthStar_construct() to create a new northstar object. Associate the northstar object with a com object using NorthStar_setComId().

Macro Definition Documentation

#define INVALID_NORTHSTARID   -1

Invalid NorthStarId is -1

Typedef Documentation

typedef int NorthStarId

NorthStarId

Function Documentation

DLLEXPORT NorthStarId NorthStar_construct

(

)

Construct a northstar object

Returns

Returns the ID of the newlyructed northstar object.

DLLEXPORT BOOL NorthStar_destroy

(

NorthStarId

id

)

Destroy the northstar object assigned to id

Parameters

id	The id of the northstar object to be destroyed

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given NorthStarId is invalid.

DLLEXPORT unsigned int NorthStar_magSpot0

(

NorthStarId

id

)

The signal strength of spot 1.

Parameters

id	The id of the northstar object.

DLLEXPORT unsigned int NorthStar_magSpot1

(

NorthStarId

id

)

The signal strength of spot 2.

Parameters

id	The id of the northstar object.

DLLEXPORT unsigned int NorthStar_numSpotsVisible

(

NorthStarId

id

)

The number of visible spots.

Parameters

id	The id of the northstar object.

DLLEXPORT float NorthStar_posTheta

(

NorthStarId

id

)

The current orientation in radians.

Parameters

id	The id of the northstar object.

DLLEXPORT int NorthStar_posX

(

NorthStarId

id

)

The current position in x direction. The scale depends on the calibration.

Parameters

id	The id of the northstar object.

DLLEXPORT int NorthStar_posY

(

NorthStarId

id

)

The current position in y direction. The scale depends on the calibration.

Parameters

id	The id of the northstar object.

DLLEXPORT int NorthStar_roomId

(

NorthStarId

id

)

The current room id.

Parameters

id	The id of the northstar object.

DLLEXPORT unsigned int NorthStar_sequenceNo

(

NorthStarId

id

)

The sequence number is increased whenever th Northstar delivers new data.

Parameters

id	The id of the northstar object.

DLLEXPORT BOOL NorthStar_setCalDistance	(	NorthStarId	id,
		unsigned int	calDistance
	)

Deprecated function. Available only for compatibility reasons.

Parameters

id	The id of the northstar object.
calDistance	Calibration distance.

Returns

Returns FALSE (0)

DLLEXPORT BOOL NorthStar_setCalFlag	(	NorthStarId	id,
		unsigned int	calFlag
	)

Deprecated function. Available only for compatibility reasons.

Parameters

id	The id of the northstar object.
calFlag	Calibration flag.

Returns

Returns FALSE (0)

DLLEXPORT BOOL NorthStar_setCalState	(	NorthStarId	id,
		unsigned int	calState
	)

Deprecated function. Available only for compatibility reasons.

Parameters

id	The id of the northstar object.
calState	Calibration state.

Returns

Returns FALSE (0)

DLLEXPORT BOOL NorthStar_setCeilingCal	(	NorthStarId	id,
		float	ceilingCal
	)

Set the ceiling calibration.

Parameters

id	The id of the northstar object.
ceilingCal	The distance from sensor to ceiling (or wherever the projector is projecting its pattern to) in meters.

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given NorthStarId is invalid.

DLLEXPORT BOOL NorthStar_setComId	(	NorthStarId	id,
		ComId	comId
	)

Associated a northstar object with a communication interface, i.e. binding the northstar to a specific Robotino

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given NorthStarId or ComId is invalid.

DLLEXPORT BOOL NorthStar_setRoomId	(	NorthStarId	id,
		int	roomId
	)

Set the room id.

Parameters

id	The id of the northstar object.
roomId	The current room id.

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given NorthStarId is invalid.