rec::robotino::api2::DistanceSensorArray Class Reference

Represents an IR distance sensor. More...

#include <DistanceSensorArray.h>

Inheritance diagram for rec::robotino::api2::DistanceSensorArray:

Public Member Functions
void	setComId (const ComId &id)
void	processEvents ()
void	voltages (float *readings) const
void	distances (float *readings) const
void	headings (float *readings) const
virtual void	voltagesChangedEvent (const float *voltages, unsigned int size)
virtual void	distancesChangedEvent (const float *distances, unsigned int size)
Public Member Functions inherited from rec::robotino::api2::ComObject
	ComObject ()
virtual	~ComObject ()
ComId	comId () const

Static Public Member Functions
static unsigned int	numDistanceSensors ()

Friends
class	DistanceSensorArrayImpl

Additional Inherited Members
Protected Attributes inherited from rec::robotino::api2::ComObject
ComId	_comID

Detailed Description

Represents an IR distance sensor.

Member Function Documentation

void rec::robotino::api2::DistanceSensorArray::distances

(

float *

readings

)

const

Returns the current distances of the distance sensors.

Example:

std::vector<float> vec( numDistanceSensors() );
distances( &vec[0] );
for( int i=0; i<vec.size(); ++i )
{
  std::cout << "Distance[" << i << "]: " << vec[i] << " m" << std::endl;
}

Parameters

[out]

readings

Pass an array of size numDistanceSensors() to store distance readings of all distance sensors in m

virtual void rec::robotino::api2::DistanceSensorArray::distancesChangedEvent ( const float *  distances, unsigned int  size  )

virtual

Called when distance changed

Parameters

distances	Array of current distance in meters of all distance sensors.
size	Size of distances array.

Exceptions

nothing.

Remarks

This function is called from the thread in which Com::processEvents() is called.

See also

Com::processEvents

void rec::robotino::api2::DistanceSensorArray::headings

(

float *

readings

)

const

Returns the headings of the distance sensors.

Example:

std::vector<float> vec( numDistanceSensors() );
headings( &vec[0] );
for( int i=0; i<vec.size(); ++i )
{
  std::cout << "Heading[" << i << "]: " << vec[i] << " rad" << std::endl;
}

Parameters

[out]

readings

Pass an array of size numDistanceSensors() to store headings of all distance sensors in rad. [0; 2*PI]

Exceptions

RobotinoException

if the underlying communication object is invalid

See also

setSensorNumber, ComObject::setComId

static unsigned int rec::robotino::api2::DistanceSensorArray::numDistanceSensors ( )

static

Returns

Returns the number of distance sensors.

void rec::robotino::api2::DistanceSensorArray::processEvents

(

)

Call this function from your main thread to get the virtual DistanceSensorArray functions called. The virtual functions are called directly by a call of this function

Exceptions

nothing

See also

Com::processEvents

void rec::robotino::api2::DistanceSensorArray::setComId

(

const ComId &

id

)

Sets the associated communication object.

Parameters

id	The id of the associated communication object.

Exceptions

RobotinoException

if given id is invalid.

void rec::robotino::api2::DistanceSensorArray::voltages

(

float *

readings

)

const

Returns the current voltages of the distance sensors.

Example:

std::vector<float> vec( numDistanceSensors() );
voltages( &vec[0] );
for( int i=0; i<vec.size(); ++i )
{
  std::cout << "Voltage[" << i << "]: " << vec[i] << " V" << std::endl;
}

Parameters

[out]

readings

Pass an array of size numDistanceSensors() to store current voltage readings of all distance sensors

Exceptions

RobotinoException

if the underlying communication object is invalid

See also

setSensorNumber, ComObject::setComId

virtual void rec::robotino::api2::DistanceSensorArray::voltagesChangedEvent ( const float *  voltages, unsigned int  size  )

virtual

Called when voltage changed

Parameters

voltages	Array of current voltage in Volts of all distance sensors.
size	Size of voltages array.

Exceptions

nothing.

Remarks

This function is called from the thread in which Com::processEvents() is called.

See also

Com::processEvents

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The documentation for this class was generated from the following file:

• C:/srcs/git/openrobotino/api2/lib/rec/robotino/api2/DistanceSensorArray.h