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invariant Class Reference

A class representing both a real representation of objects in the simulator and the "real" pose of the robot in real world coordinates (millimeters/radian). More...

#include <invariant.h>

Inheritance diagram for invariant:

Public Member Functions
	invariant (void)
	invariant (MILLIMETER_FLOAT, MILLIMETER_FLOAT, RADIAN)
	Constructor for x,y,orientation.
Static Public Member Functions
void	invariant_x (MILLIMETER_FLOAT)
MILLIMETER_FLOAT	invariant_x (void)
	Retruns X coordinate.
void	invariant_y (MILLIMETER_FLOAT)
MILLIMETER_FLOAT	invariant_y (void)
	Returns Y coordinate.
RADIAN	invariant_angle (void)
	Returns which way facing in basic units (NORTH, SOUTH, EAST, WEST).
void	invariant_angle (RADIAN)
short	mapx (void)
	Returns position on map (x).
short	mapy (void)
	Retrurns position on map(y).
void	invariant_set (MILLIMETER_FLOAT, MILLIMETER_FLOAT, RADIAN)
void	invariant_set (pose &p)
void	slippage (MILLIMETER_FLOAT, MILLIMETER_FLOAT, RADIAN)
float	random (void)
bool	error_model (void)
	Returns whether to add error term to calculations.
void	error_model (bool)
	Sets whether to add error model.
void	systematic_error_X (int ix)
	Systematic Error along X axis.
void	systematic_error_Y (int iy)
	Systematic Error along Y axis.
void	systematic_error_IR (int iangle)
	Systematic Error in distance returned from IR sensor.
int	systematic_error_X (void)
	Return Systematic Error along X axis.
int	systematic_error_Y (void)
	Return Systematic Error along X axis.
int	systematic_error_IR (void)
	Return Systematic Error in IR.
MILLIMETER_FLOAT	invariant_wheelbase (void)
void	invariant_wheelbase (MILLIMETER_FLOAT)
void	invariant_robot_diameter (MILLIMETER_FLOAT)
MILLIMETER_FLOAT	invariant_robot_diameter (void)
void	invariant_wheel_diameter (HAND, MILLIMETER_FLOAT)
MILLIMETER_FLOAT	invariant_wheel_diameter (HAND)
void	invariant_stall (HAND h, float s)
void	invariant_maximum_velocity (HAND h, float m)
float	invariant_stall (HAND h)
float	invariant_maximum_velocity (HAND h)
ENCODER_TYPE	EU_x (void)
ENCODER_TYPE	EU_y (void)
FIXED_RADIAN	FR_angle (void)
void	map_reset (short iwidth, short iheight)
uint8	obstacle (int i, int j)
	Returns whether obstacle or not.
uint8	layer (int i, int j)
void	wall (int x, int y, uint8 ctype, uint8 layer=0)
	Fills in a node with Terrain type specified.
void	initialize (void)
int	debug (int i, int j)
Static Public Attributes
short	_map_width
short	_map_height
Static Private Member Functions
void	init (void)

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Detailed Description

A class representing both a real representation of objects in the simulator and the "real" pose of the robot in real world coordinates (millimeters/radian).

The real position will determined by the simulator. The simulator position will then add some random error to the position in Local_Map_Spec due to slippage, etc.

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Constructor & Destructor Documentation

invariant (  void   )

invariant (  MILLIMETER_FLOAT  , MILLIMETER_FLOAT  , RADIAN  )

Constructor for x,y,orientation.

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Member Function Documentation

int debug (  int  i, int  j )  [static, inherited]

void error_model (  bool   )  [static]

Sets whether to add error model.

bool error_model (  void   )  [static]

Returns whether to add error term to calculations.

ENCODER_TYPE EU_x (  void   )  [static]

ENCODER_TYPE EU_y (  void   )  [static]

FIXED_RADIAN FR_angle (  void   )  [static]

void init (  void   )  [static, private]

void initialize (  void   )  [static, inherited]

void invariant_angle (  RADIAN   )  [static]

RADIAN invariant_angle (  void   )  [static]

Returns which way facing in basic units (NORTH, SOUTH, EAST, WEST).

float invariant_maximum_velocity (  HAND  h  )  [static]

void invariant_maximum_velocity (  HAND  h, float  m )  [static]

MILLIMETER_FLOAT invariant_robot_diameter (  void   )  [static]

void invariant_robot_diameter (  MILLIMETER_FLOAT   )  [static]

void invariant_set (  pose &  p  )  [static]

void invariant_set (  MILLIMETER_FLOAT  , MILLIMETER_FLOAT  , RADIAN  )  [static]

float invariant_stall (  HAND  h  )  [static]

void invariant_stall (  HAND  h, float  s )  [static]

MILLIMETER_FLOAT invariant_wheel_diameter (  HAND   )  [static]

void invariant_wheel_diameter (  HAND  , MILLIMETER_FLOAT  )  [static]

void invariant_wheelbase (  MILLIMETER_FLOAT   )  [static]

MILLIMETER_FLOAT invariant_wheelbase (  void   )  [static]

MILLIMETER_FLOAT invariant_x (  void   )  [static]

Retruns X coordinate.

void invariant_x (  MILLIMETER_FLOAT   )  [static]

MILLIMETER_FLOAT invariant_y (  void   )  [static]

Returns Y coordinate.

void invariant_y (  MILLIMETER_FLOAT   )  [static]

uint8 layer (  int  i, int  j )  [static, inherited]

void map_reset (  short  iwidth, short  iheight )  [static, inherited]

short mapx (  void   )  [static]

Returns position on map (x).

short mapy (  void   )  [static]

Retrurns position on map(y).

uint8 obstacle (  int  i, int  j )  [static, inherited]

Returns whether obstacle or not.

float random (  void   )  [static]

void slippage (  MILLIMETER_FLOAT  , MILLIMETER_FLOAT  , RADIAN  )  [static]

int systematic_error_IR (  void   )  [static]

Return Systematic Error in IR.

void systematic_error_IR (  int  iangle  )  [static]

Systematic Error in distance returned from IR sensor.

int systematic_error_X (  void   )  [static]

Return Systematic Error along X axis.

void systematic_error_X (  int  ix  )  [static]

Systematic Error along X axis.

int systematic_error_Y (  void   )  [static]

Return Systematic Error along X axis.

void systematic_error_Y (  int  iy  )  [static]

Systematic Error along Y axis.

void wall (  int  x, int  y, uint8  ctype, uint8  layer = 0 )  [static, inherited]

Fills in a node with Terrain type specified.

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Field Documentation

short _map_height [static, inherited]

short _map_width [static, inherited]

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