Fawkes API
Fawkes Development Version
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This class is mainly the same as the basic class with the difference that all data is precalculated or estimated. More...
#include <>>
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... | |
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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... | |
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.
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Constructor.
cfg_prefix | The prefix of the config node, where the roboshape values are found |
logger | Pointer to the fawkes logger |
config | Pointer to the fawkes configuration. |
readings_per_degree | Readings per degree constant (default=1) |
Definition at line 81 of file roboshape_colli.h.
References fawkes::RoboShape::get_robot_length_for_rad().
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inline |
Destructor.
Definition at line 96 of file roboshape_colli.h.
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Returns the robots length for a specific angle.
angledeg | is the angle in degree. |
Definition at line 116 of file roboshape_colli.h.
Referenced by get_robot_length_for_rad(), and fawkes::LaserOccupancyGrid::LaserOccupancyGrid().
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inline |
Returns the robots length for a specific angle.
anglerad | is the angle in radians. |
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().