23 #ifndef __PLUGINS_COLLI_UTILS_ROB_ROBOSHAPE_H_ 24 #define __PLUGINS_COLLI_UTILS_ROB_ROBOSHAPE_H_ 113 float radius_, width_x_, width_y_;
114 float laser_offset_x_, laser_offset_y_;
115 float width_add_front_, width_add_back_, width_add_left_, width_add_right_;
116 float robot_to_front_, robot_to_right_, robot_to_back_, robot_to_left_;
119 float ang_front_left_, ang_front_right_, ang_back_left_, ang_back_right_;
120 float ang_left_, ang_right_, ang_front_, ang_back_;
float get_radius()
Returns the radius of the robot if its round.
float get_robot_length_for_deg(float angledeg)
return the length of the robot for a specific angle
float get_robot_length_for_rad(float anglerad)
return the length of the robot for a specific angle
float get_width_x()
Returns the width-x of the angular robot.
Fawkes library namespace.
float get_complete_width_y()
Returns the complete x width of the angular robot.
float get_angle_right() const
Get angle to middle of the right side of the robot.
bool is_robot_reading_for_rad(float anglerad, float length)
Check if the reading is 'in' the robot.
float get_laser_offset_y()
Returns the laser offset in y direction of the robot.
float get_angle_front() const
Get angle to middle of the front side of the robot.
float get_angle_left() const
Get angle to middle of the left side of the robot.
float get_complete_width_x()
Returns the complete x width of the angular robot.
RoboShape(const char *cfg_prefix, fawkes::Logger *logger, fawkes::Configuration *config)
Constructor.
float get_angle_front_right() const
Get angle to the front right corner of the robot.
float get_width_y()
Returns the width-y of the angular robot.
float get_laser_offset_x()
Returns the laser offset in x direction of the robot.
float get_angle_back() const
Get angle to middle of the back side of the robot.
float get_angle_front_left() const
Get angle to the front left corner of the robot.
This is a class containing all roboshape information.
float get_complete_radius()
Returns the maximum radius of the robot if its round.
bool is_round_robot()
Returns if the robot is round.
bool is_angular_robot()
Returns if the robot is angular.
bool is_robot_reading_for_deg(float angledeg, float length)
Check if the reading is 'in' the robot.
Interface for configuration handling.
float get_angle_back_left() const
Get angle to of the rear left corner robot.
float get_angle_back_right() const
Get angle to of the rear right corner robot.