ArBumpers Class Reference

A class that treats the robot's bumpers as a range device. More...

#include <ArBumpers.h>

Inheritance diagram for ArBumpers:

List of all members.

Public Member Functions
void	addBumpToBuffer (int bumpValue, int whichBumper)
	ArBumpers (size_t currentBufferSize=30, size_t cumulativeBufferSize=30, const char *name="bumpers", int maxSecondsToKeepCurrent=15, double angleRange=135)
void	processReadings (void)
virtual void	setRobot (ArRobot *robot)
	Sets the robot this device is attached to.
Protected Attributes
double	myAngleRange
int	myBumpMask
ArFunctorC< ArBumpers >	myProcessCB
ArRobot *	myRobot

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Detailed Description

A class that treats the robot's bumpers as a range device.

The class treats bumpers like a range device. When a bumper is bumped, it reports the approximate position of the bump in a buffer. The positions are kept current for a specified length of time.

Definition at line 41 of file ArBumpers.h.

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Constructor & Destructor Documentation

ArBumpers::ArBumpers (  size_t  currentBufferSize = 30, size_t  cumulativeBufferSize = 30, const char *  name = "bumpers", int  maxSecondsToKeepCurrent = 15, double  angleRange = 135 )

Parameters: currentBufferSize  The number of readings to store in the current Buffer cumulativebufferSize  The number of readings in the cumulative buffer (This currently is not being used) *name  The name of this range device maxSecondsToKeepCurrent  How long to keep readings in the current buffer angleRange  the range in front and behind the robot which is divided by the number of bumpers and used to detrmine where the sensor readings will be placed. Definition at line 40 of file ArBumpers.cpp. References ArRangeDevice::setCurrentDrawingData().

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Member Function Documentation

void ArBumpers::addBumpToBuffer (  int  bumpValue, int  whichBumper )

Parameters: bumpValue  This is the value that tells which individual bumper has been triggered whichBumper  This value tells if the front or rear has been triggered Definition at line 113 of file ArBumpers.cpp. References ArRangeBuffer::addReading(), ArMath::cos(), ArTransform::doTransform(), ArRobot::getNumFrontBumpers(), ArRobot::getNumRearBumpers(), ArRobot::getRobotParams(), ArRobotParams::getRobotRadius(), ArRobot::getToGlobalTransform(), ArPose::getX(), ArPose::getY(), ArPose::setX(), ArPose::setY(), and ArMath::sin(). Referenced by processReadings().

void ArBumpers::processReadings (  void   )

This function is called every 100 milliseconds. Definition at line 76 of file ArBumpers.cpp. References addBumpToBuffer(), ArRobot::getStallValue(), ArRobot::hasFrontBumpers(), and ArRobot::hasRearBumpers().

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

• ArBumpers.h
• ArBumpers.cpp

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