/home/ciesla/projects/svn.openrobotino.org/openrobotino1/lib/rec/robotino/com/c/Odometry.h File Reference

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

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

Go to the source code of this file.

Defines

#define INVALID_ODOMETRYID   -1

Typedefs

typedef int OdometryId

Functions

DLLEXPORT OdometryId Odometry_construct ()
DLLEXPORT BOOL Odometry_destroy (OdometryId id)
DLLEXPORT BOOL Odometry_setComId (OdometryId id, ComId comId)
DLLEXPORT float Odometry_x (OdometryId id)
DLLEXPORT float Odometry_y (OdometryId id)
DLLEXPORT float Odometry_phi (OdometryId id)
DLLEXPORT BOOL Odometry_set (OdometryId id, float x, float y, float phi)


Detailed Description

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

Use Odometry_construct() to create a new odometry object. Associate the odometry object with a com object using Odometry_setComId(). Use Odometry_open() to open the odometry. Use Odometry_close() to open the odometry. Use Odometry_isOpened() to check if the odometry is opened. Use Odometry_isClosed() to check if the odometry is closed.


Function Documentation

DLLEXPORT OdometryId Odometry_construct (  ) 

Construct an odometry object

Returns:
Returns the ID of the newly constructed odometry object.

DLLEXPORT BOOL Odometry_destroy ( OdometryId  id  ) 

Destroy the odometry object assigned to id

Parameters:
id The id of the odometry object to be destroyed
Returns:
Returns TRUE (1) on success. Returns FALSE (0) if the given OdometryId is invalid.

DLLEXPORT float Odometry_phi ( OdometryId  id  ) 

Parameters:
id The id of the odometry object to be destroyed
Returns:
Global orientation of Robotino in degree.

DLLEXPORT BOOL Odometry_set ( OdometryId  id,
float  x,
float  y,
float  phi 
)

Set Robotino's odoemtry to the given coordinates

Parameters:
id The id of the odometry object to be destroyed
x Global x position in mm
y Global y position in mm
phi Global phi orientation in degrees
Returns:
Returns TRUE (1) on success. Returns FALSE (0) if the given OdometryId is invalid.

DLLEXPORT BOOL Odometry_setComId ( OdometryId  id,
ComId  comId 
)

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

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

DLLEXPORT float Odometry_x ( OdometryId  id  ) 

Parameters:
id The id of the odometry object to be destroyed
Returns:
Global x position of Robotino in mm.

DLLEXPORT float Odometry_y ( OdometryId  id  ) 

Parameters:
id The id of the odometry object to be destroyed
Returns:
Global y position of Robotino in mm.


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