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IR_base Class Reference

A class to locate an IR on a robot. More...

#include <ir_base.h>

Inheritance diagram for IR_base:

Public Member Functions
	IR_base (short dfc, DEGREE forward, DEGREE rotate, IOLINE c, IR_TYPE ir, uint8 subclass=0)
short	value (void)
	Provide emulated value. Distance from object in millimeterss.
void	WSwrite (void)
	Write object to shared memory.
void	status (JAUS_STATE istat)
	Set status of component.
void	scanner (oServo *s)
	Provide a servo for a scanner type sensor mount.
bool	scanner (void)
	Returns wether base is a scanner type or fixed.
void	angle (DEGREE d)
	Sets the angle that the base is facing relative to _face; i.e., if mounted 20 degrees from center, then 0 is 20 degrees from center. If defined with a servo, then will turn the base to that direction.
DEGREE	angle (void)
	return angle at which scanner is pointed relative to local center (_face).
FIXED_RADIAN	bearing (void)
	Returns current facing of sensor taking into account scanner rotation (FIXED).
int	maximum_sensor_range (void)
	Returns the maximum sensor range in millimetres.
void	maximum_sensor_range (int msr)
	Set the maximum range of the sensor.
bool	locked (void)
	Returns whether the sensor is locked.
void	locked (bool l)
Data Fields
int	_DFC
	Distance from center of platform (MILLIMETERS).
FIXED_RADIAN	F_face
	where the IR is facing 0 is forward + is counterclock-wise.
FIXED_RADIAN	F_orient
	Position (radians) around the robot from defined center position (0=forward).
Protected Attributes
oIR	_ir
oServo *	_servo
FIXED_RADIAN	F_bearing
int	_maximum_sensor_range
bool	_locked
Friends
class	Object_List

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Detailed Description

A class to locate an IR on a robot.

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Constructor & Destructor Documentation

IR_base (  short  dfc, DEGREE  forward, DEGREE  rotate, IOLINE  c, IR_TYPE  ir, uint8  subclass = 0 )

Parameters: dfc  IR distance from center of vehicle. forward  facing direction (0 is robot's forward; counterclockwise) rotate  how many degrees you must rotate around vehicle center to locate sensor. c  channel on A/D port. ir  type of IR

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Member Function Documentation

DEGREE angle (  void   )  [inherited]

return angle at which scanner is pointed relative to local center (_face).

void angle (  DEGREE  d  )  [inherited]

Sets the angle that the base is facing relative to _face; i.e., if mounted 20 degrees from center, then 0 is 20 degrees from center. If defined with a servo, then will turn the base to that direction.

FIXED_RADIAN bearing (  void   )  [inherited]

Returns current facing of sensor taking into account scanner rotation (FIXED). bearing is Absolute direction of sensor with respect to robot's forward as 0 degrees; it incorporates the facing of sensor. To get the bearing with respect to the world system, you must add the robot's current heading; i.e., bearing() + angle()

void locked (  bool  l  )  [inherited]

bool locked (  void   )  [inherited]

Returns whether the sensor is locked. This is a locking mechanism if you wish to allocate a sensor for a private use and cannot be allocated by another call to Object_List::bearing until it is unlocked.

void maximum_sensor_range (  int  msr  )  [inherited]

Set the maximum range of the sensor.

int maximum_sensor_range (  void   )  [inherited]

Returns the maximum sensor range in millimetres. maximum sensor_range declared below so it can be initialized low level, but returns a low level so a generic <sensor_base*> can access maximum sensor range without knowing its type.

bool scanner (  void   )  [inherited]

Returns wether base is a scanner type or fixed.

void scanner (  oServo *  s  )  [inherited]

Provide a servo for a scanner type sensor mount.

void status (  JAUS_STATE  istat  )  [inline]

Set status of component.

short value (  void   )

Provide emulated value. Distance from object in millimeterss. Reimplemented from sensor_base.

void WSwrite (  void   )

Write object to shared memory.

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Friends And Related Function Documentation

friend class Object_List [friend]

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Field Documentation

int _DFC [inherited]

Distance from center of platform (MILLIMETERS).

oIR _ir [protected]

bool _locked [protected, inherited]

int _maximum_sensor_range [protected, inherited]

oServo* _servo [protected, inherited]

FIXED_RADIAN F_bearing [protected, inherited]

FIXED_RADIAN F_face [inherited]

where the IR is facing 0 is forward + is counterclock-wise.

FIXED_RADIAN F_orient [inherited]

Position (radians) around the robot from defined center position (0=forward). To put it another way, this is where the sensor is mounted whereas face is which way IR beam is directed; no necessarily related.

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