/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.
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#include "rec/robotino/com/c/globals.h"
#include "rec/robotino/com/c/Com.h"
Go to the source code of this file.
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 |
( |
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) |
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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 |
) |
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- Parameters:
-
| id | The id of the odometry object to be destroyed |
- Returns:
- Global orientation of Robotino in degree.
DLLEXPORT BOOL Odometry_set |
( |
OdometryId |
id, |
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float |
x, |
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float |
y, |
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float |
phi | |
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) |
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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, |
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ComId |
comId | |
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) |
| | |
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.