ArIrrfDevice Class Reference

A class for connecting to a PB-9 and managing the resulting data. More...

#include <ArIrrfDevice.h>

Inheritance diagram for ArIrrfDevice:

List of all members.

Public Member Functions
	ArIrrfDevice (size_t currentBufferSize=91, size_t cumulativeBufferSize=273, const char *name="irrf")
	Constructor.
bool	packetHandler (ArRobotPacket *packet)
	The packet handler for use when connecting to an H8 micro-controller.
void	setCumulativeMaxRange (double r)
	Maximum range for a reading to be added to the cumulative buffer (mm).
virtual void	setRobot (ArRobot *)
	Sets the robot this device is attached to.
virtual	~ArIrrfDevice ()
	Destructor.
Protected Member Functions
void	processReadings (void)
Protected Attributes
double	myCumulativeMaxRange
double	myFilterFarDist
double	myFilterNearDist
std::map< int, ArSensorReading * >	myIrrfReadings
ArTime	myLastReading
ArRetFunctor1C< bool, ArIrrfDevice, ArRobotPacket * >	myPacketHandler

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Detailed Description

A class for connecting to a PB-9 and managing the resulting data.

This class is for use with a PB9 IR rangefinder. It has the packethandler necessary to process the packets, and will put the data into ArRangeBuffers for use with obstacle avoidance, etc.

The PB9 is still under development, and only works on an H8 controller running AROS.

Definition at line 47 of file ArIrrfDevice.h.

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Member Function Documentation

bool ArIrrfDevice::packetHandler (  ArRobotPacket *  packet  )

The packet handler for use when connecting to an H8 micro-controller. This is the packet handler for the PB9 data, which is sent via the micro controller, to the client. This will read the data from the packets, and then call processReadings to filter add the data to the current and cumulative buffers. Definition at line 145 of file ArIrrfDevice.cpp. References ArTransform::doInvTransform(), ArRobot::getCounter(), ArRobot::getEncoderTransform(), ArRobot::getPose(), ArSensorReading::newData(), ArTime::setToNow(), and ArTransform::setTransform().

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

• ArIrrfDevice.h
• ArIrrfDevice.cpp

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