rec::robotino::api2::Pose Class Reference

Represents Robotino's odoemtry module. More...

#include <Pose.h>

Inheritance diagram for rec::robotino::api2::Pose:

Public Member Functions
	Pose (const ComId &id)
void	setComId (const ComId &id)
void	readings (double *x, double *y, double *phi, double *errx=0, double *erry=0, double *errphi=0, unsigned int *sequence=0) const
virtual void	readingsEvent (double x, double y, double phi, double errx, double erry, double errphi, unsigned int sequence)
Public Member Functions inherited from rec::robotino::api2::ComObject
	ComObject ()
virtual	~ComObject ()
ComId	comId () const

Friends
class	PoseImpl

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

Detailed Description

Represents Robotino's odoemtry module.

Member Function Documentation

void rec::robotino::api2::Pose::readings	(	double *	x,
		double *	y,
		double *	phi,
		double *	errx = 0,
		double *	erry = 0,
		double *	errphi = 0,
		unsigned int *	sequence = 0
	)		const

Parameters

x	Global corrected x position of Robotino in m.
y	Global corrected y position of Robotino in m.
phi	Global corrected orientation of Robotino in rad.
errx	Error in x direction.
erry	Error in y direction.
errphi	Error of orientation.
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 Pose is updated.

Exceptions

nothing.

Remarks

This function is thread save

virtual void rec::robotino::api2::Pose::readingsEvent ( double  x, double  y, double  phi, double  errx, double  erry, double  errphi, unsigned int  sequence  )

virtual

Called when new Pose data is available.

Parameters

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 Pose is updated.

Remarks

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

See also

Com::processEvents

void rec::robotino::api2::Pose::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.

Remarks

This function is thread save

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

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