ArIRs Class Reference

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

#include <ArIRs.h>

Inheritance diagram for ArIRs:

List of all members.

Public Member Functions
	ArIRs (size_t currentBufferSize=10, size_t cumulativeBufferSize=10, const char *name="irs", int maxSecondsToKeepCurrent=15)
void	processReadings (void)
virtual void	setRobot (ArRobot *robot)
	Sets the robot this device is attached to.
Protected Attributes
std::vector< int >	cycleCounters
ArRobotParams	myParams
ArFunctorC< ArIRs >	myProcessCB
ArRobot *	myRobot

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Detailed Description

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

Definition at line 38 of file ArIRs.h.

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Constructor & Destructor Documentation

ArIRs::ArIRs (  size_t  currentBufferSize = 10, size_t  cumulativeBufferSize = 10, const char *  name = "irs", int  maxSecondsToKeepCurrent = 15 )

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 41 of file ArIRs.cpp. References ArRangeDevice::setCurrentDrawingData().

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Member Function Documentation

void ArIRs::processReadings (  void   )

This function is called every 100 milliseconds. Definition at line 79 of file ArIRs.cpp. References ArRangeBuffer::addReading(), ArTransform::doTransform(), ArRobot::getDigIn(), ArRobot::getIODigIn(), ArRobot::getIODigInSize(), ArRobotParams::getIRCycles(), ArRobotParams::getIRType(), ArRobotParams::getIRX(), ArRobotParams::getIRY(), ArRobotParams::getNumIR(), ArRobot::getToGlobalTransform(), ArPose::getX(), ArPose::getY(), ArRobotParams::haveNewTableSensingIR(), ArRobotParams::haveTableSensingIR(), ArPose::setX(), and ArPose::setY().

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

• ArIRs.h
• ArIRs.cpp

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