Fawkes API  Fawkes Development Version
fawkes::RoboShapeColli Class Reference

This class is mainly the same as the basic class with the difference that all data is precalculated or estimated. More...

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Inheritance diagram for fawkes::RoboShapeColli:

Public Member Functions

 RoboShapeColli (const char *cfg_prefix, Logger *logger, Configuration *config, int readings_per_degree=1) throw (int)
 Constructor. More...
 
 ~RoboShapeColli ()
 Destructor. More...
 
float get_robot_length_for_rad (float anglerad)
 Returns the robots length for a specific angle. More...
 
float get_robot_length_for_deg (float angledeg)
 Returns the robots length for a specific angle. More...
 
- Public Member Functions inherited from fawkes::RoboShape
 RoboShape (const char *cfg_prefix, fawkes::Logger *logger, fawkes::Configuration *config)
 Constructor. More...
 
 ~RoboShape ()
 Desctructor. More...
 
bool is_round_robot ()
 Returns if the robot is round. More...
 
bool is_angular_robot ()
 Returns if the robot is angular. More...
 
bool is_robot_reading_for_rad (float anglerad, float length)
 Check if the reading is 'in' the robot. More...
 
bool is_robot_reading_for_deg (float angledeg, float length)
 Check if the reading is 'in' the robot. More...
 
float get_robot_length_for_rad (float anglerad)
 return the length of the robot for a specific angle More...
 
float get_robot_length_for_deg (float angledeg)
 return the length of the robot for a specific angle More...
 
float get_radius ()
 Returns the radius of the robot if its round. More...
 
float get_complete_radius ()
 Returns the maximum radius of the robot if its round. More...
 
float get_width_x ()
 Returns the width-x of the angular robot. More...
 
float get_width_y ()
 Returns the width-y of the angular robot. More...
 
float get_complete_width_x ()
 Returns the complete x width of the angular robot. More...
 
float get_complete_width_y ()
 Returns the complete x width of the angular robot. More...
 
float get_laser_offset_x ()
 Returns the laser offset in x direction of the robot. More...
 
float get_laser_offset_y ()
 Returns the laser offset in y direction of the robot. More...
 
float get_angle_front_left () const
 Get angle to the front left corner of the robot. More...
 
float get_angle_front_right () const
 Get angle to the front right corner of the robot. More...
 
float get_angle_back_left () const
 Get angle to of the rear left corner robot. More...
 
float get_angle_back_right () const
 Get angle to of the rear right corner robot. More...
 
float get_angle_left () const
 Get angle to middle of the left side of the robot. More...
 
float get_angle_right () const
 Get angle to middle of the right side of the robot. More...
 
float get_angle_front () const
 Get angle to middle of the front side of the robot. More...
 
float get_angle_back () const
 Get angle to middle of the back side of the robot. More...
 

Detailed Description

This class is mainly the same as the basic class with the difference that all data is precalculated or estimated.

Definition at line 47 of file roboshape_colli.h.

Constructor & Destructor Documentation

◆ RoboShapeColli()

fawkes::RoboShapeColli::RoboShapeColli ( const char *  cfg_prefix,
Logger logger,
Configuration config,
int  readings_per_degree = 1 
)
throw (int
)
inline

Constructor.

Parameters
cfg_prefixThe prefix of the config node, where the roboshape values are found
loggerPointer to the fawkes logger
configPointer to the fawkes configuration.
readings_per_degreeReadings per degree constant (default=1)

Definition at line 81 of file roboshape_colli.h.

References fawkes::RoboShape::get_robot_length_for_rad().

◆ ~RoboShapeColli()

fawkes::RoboShapeColli::~RoboShapeColli ( )
inline

Destructor.

Definition at line 96 of file roboshape_colli.h.

Member Function Documentation

◆ get_robot_length_for_deg()

float fawkes::RoboShapeColli::get_robot_length_for_deg ( float  angledeg)
inline

Returns the robots length for a specific angle.

Parameters
angledegis the angle in degree.
Returns
the length in this direction.

Definition at line 116 of file roboshape_colli.h.

Referenced by get_robot_length_for_rad(), and fawkes::LaserOccupancyGrid::LaserOccupancyGrid().

◆ get_robot_length_for_rad()

float fawkes::RoboShapeColli::get_robot_length_for_rad ( float  anglerad)
inline

Returns the robots length for a specific angle.

Parameters
angleradis the angle in radians.
Returns
the length in this direction.

Definition at line 106 of file roboshape_colli.h.

References get_robot_length_for_deg(), and fawkes::rad2deg().

Referenced by fawkes::EscapeDriveModule::set_laser_data().


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