ArRobot Class Reference

#include <ArRobot.h>

Detailed Description

Central class for communicating with and operating the robot.

This is the most important class. It is used to communicate with the robot by sending commands and retrieving data (including wheel odometry, digital and analog inputs, sonar data, and more). It is also used to provide access to objects for controlling attached accessories, ArRangeDevice objects, ArAction objects, and others. For details on usage, and how the task cycle and obot state synchronization works, see the ArRobot section and the Commands and Actions section of the ARIA overview.

Note:: In Windows you cannot make an ArRobot object a global variable, it will crash because the compiler initializes the constructors in the wrong order. You can, however, make a pointer to an ArRobot and then allocate it with 'new' at program start.

See also:: ArSimpleConnector

Examples:: actionExample.cpp, actionGroupExample.cpp, actsColorFollowingExample.cpp, armExample.cpp, auxSerialExample.cpp, demo.cpp, dpptuExample.cpp, gotoActionExample.cpp, gripperExample.cpp, gyroExample.cpp, joydriveActionExample.cpp, lineFinderExample.cpp, moduleExample.cpp, moduleExample_Mod.cpp, robotConnectionCallbacks.cpp, robotSyncTaskExample.cpp, simpleConnect.cpp, sonyPTZDemo.cpp, teleopActionsExample.cpp, triangleDriveToActionExample.cpp, vcc4CameraExample.cpp, and wander.cpp.

Definition at line 73 of file ArRobot.h.

Public Types

enum ChargeState {
  CHARGING_UNKNOWN = -1, CHARGING_NOT = 0, CHARGING_BULK = 1, CHARGING_OVERCHARGE = 2,
  CHARGING_FLOAT = 3
}

CHARGING_BULK = 1

CHARGING_FLOAT = 3

CHARGING_NOT = 0

CHARGING_OVERCHARGE = 2

CHARGING_UNKNOWN = -1

WAIT_CONNECTED

The robot has connected.

WAIT_FAIL

The wait failed due to an error.

WAIT_FAILED_CONN

The robot failed to connect.

WAIT_INTR

The wait was interupted by a signal.

WAIT_RUN_EXIT

The run loop has exited.

WAIT_TIMEDOUT

The wait reached the timeout specified.

enum WaitState {
  WAIT_CONNECTED, WAIT_FAILED_CONN, WAIT_RUN_EXIT, WAIT_TIMEDOUT,
  WAIT_INTR, WAIT_FAIL
}

Public Member Functions

void actionHandler (void)

Action Handler, internal.

bool addAction (ArAction *action, int priority)

Adds an action to the list with the given priority.

void addConnectCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)

Adds a connect callback.

void addDisconnectNormallyCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)

Adds a callback for when disconnect is called while connected.

void addDisconnectOnErrorCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)

Adds a callback for when disconnection happens because of an error.

void addFailedConnectCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)

Adds a callback for when a connection to the robot is failed.

void addPacketHandler (ArRetFunctor1< bool, ArRobotPacket * > *functor, ArListPos::Pos position=ArListPos::LAST)

Adds a packet handler to the list of packet handlers.

void addRangeDevice (ArRangeDevice *device)

Adds a rangeDevice to the robot's list of them, and set the device's robot pointer.

void addRunExitCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)

Adds a callback for when the run loop exits for what ever reason.

bool addSensorInterpTask (const char *name, int position, ArFunctor *functor, ArTaskState::State *state=NULL)

Adds a task under the sensor interp part of the syncronous tasks.

void addStabilizingCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)

Adds a callback called when the robot starts stabilizing before declaring connection.

bool addUserTask (const char *name, int position, ArFunctor *functor, ArTaskState::State *state=NULL)

Adds a user task to the list of synchronous taskes.

void applyTransform (ArTransform trans, bool doCumulative=true)

This applies a transform to all the robot range devices and to the sonar.

bool areMotorsEnabled (void) const

returns true if the motors are enabled

bool areSonarsEnabled (void) const

returns true if the sonars are enabled (note that if the robot has no sonars at all, this will return false)

void ariaExitCallback (void)

internal function called when Aria::exit is called

ArRobot (const char *name=NULL, bool ignored=true, bool doSigHandle=true, bool normalInit=true, bool addAriaExitCallback=true)

Constructor.

bool asyncConnect (void)

Connects to a robot, from the robots own thread.

int asyncConnectHandler (bool tryHarderToConnect)

Internal function, shouldn't be used, does a single run of connecting.

void attachKeyHandler (ArKeyHandler *keyHandler, bool exitOnEscape=true, bool useExitNotShutdown=true)

Attachs a key handler.

bool blockingConnect (void)

Connects to a robot, not returning until connection made or failed.

void cancelConnection (void)

Internal function, shouldn't be used, cancels the connection quietly.

double checkRangeDevicesCumulativeBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL, const ArRangeDevice **rangeDevice=NULL, bool useLocationDependentDevices=true) const

double checkRangeDevicesCumulativePolar (double startAngle, double endAngle, double *angle=NULL, const ArRangeDevice **rangeDevice=NULL, bool useLocationDependentDevices=true) const

Goes through all the range devices and checks them.

double checkRangeDevicesCurrentBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL, const ArRangeDevice **rangeDevice=NULL, bool useLocationDependentDevices=true) const

double checkRangeDevicesCurrentPolar (double startAngle, double endAngle, double *angle=NULL, const ArRangeDevice **rangeDevice=NULL, bool useLocationDependentDevices=true) const

Goes through all the range devices and checks them.

void clearDirectMotion (void)

Clears what direct motion commands have been given, so actions work.

bool com (unsigned char command)

Sends a command to the robot with no arguments.

bool com2Bytes (unsigned char command, char high, char low)

Sends a command to the robot with two bytes for argument.

bool comDataN (unsigned char command, const char *data, int size)

Sends a command containing exactly the data in the given buffer as argument.

bool comInt (unsigned char command, short int argument)

Sends a command to the robot with an int for argument.

bool comStr (unsigned char command, const char *argument)

Sends a command to the robot with a length-prefixed string for argument.

bool comStrN (unsigned char command, const char *str, int size)

Sends a command to the robot with a length-prefixed string for argument.

void deactivateActions (void)

Deactivates all the actions.

void disableMotors ()

Disables the motors on the robot.

void disableSonar ()

Disables the sonar on the robot.

bool disconnect (void)

Disconnects from a robot.

void dropConnection (void)

Internal function, shouldn't be used, drops the conn because of error.

void enableMotors ()

Enables the motors on the robot.

void enableSonar ()

Enables the sonar on the robot.

void failedConnect (void)

Internal function, shouldn't be used, denotes the conn failed.

ArAction * findAction (const char *actionName)

Returns the first (highest priority) action with the given name (or NULL).

double findAngleTo (const ArPose pose)

Gets the distance to a point from the robot.

double findDeltaHeadingTo (const ArPose pose)

Gets the distance to a point from the robot.

double findDistanceTo (const ArPose pose)

Gets the distance to a point from the robot.

ArRangeDevice * findRangeDevice (const char *name)

Finds a rangeDevice in the robot's list.

const ArRangeDevice * findRangeDevice (const char *name) const

Finds a rangeDevice in the robot's list.

ArSyncTask * findTask (ArFunctor *functor)

Finds a task by functor.

ArSyncTask * findTask (const char *name)

Finds a task by name.

ArSyncTask * findUserTask (ArFunctor *functor)

Finds a user task by functor.

ArSyncTask * findUserTask (const char *name)

Finds a user task by name.

void finishedConnection (void)

Internal function, shouldn't be used, does the after conn stuff.

void forceTryingToMove (void)

Sets the flag that says the robot is trying to move.

double getAbsoluteMaxRotAccel (void) const

Gets the robot's absolute maximum rotational acceleration.

double getAbsoluteMaxRotDecel (void) const

Gets the robot's absolute maximum rotational deceleration.

double getAbsoluteMaxRotVel (void) const

Gets the robot's absolute maximum rotational velocity.

double getAbsoluteMaxTransAccel (void) const

Gets the robot's absolute maximum translational acceleration.

double getAbsoluteMaxTransDecel (void) const

Gets the robot's absolute maximum translational deceleration.

double getAbsoluteMaxTransVel (void) const

Gets the robot's absolute maximum translational velocity.

ArResolver::ActionMap * getActionMap (void)

unsigned char getAnalog (void) const

Gets the analog value.

int getAnalogPortSelected (void) const

Gets which analog port is selected.

double getBatteryVoltage (void) const

Gets the battery voltage of the robot (normalized to 12 volt system).

size_t getBatteryVoltageAverageOfNum (void)

Gets the number of readings the battery voltage is the average of.

double getBatteryVoltageNow (void) const

Gets the instaneous battery voltage.

ChargeState getChargeState (void) const

Gets the charge state of the robot (see long docs).

int getClosestSonarNumber (double startAngle, double endAngle) const

Returns the number of the sonar that has the closest current reading in the given range.

int getClosestSonarRange (double startAngle, double endAngle) const

Returns the closest of the current sonar reading in the given range.

double getCompass (void) const

Gets the compass heading from the robot.

unsigned int getConnectionCycleMultiplier (void) const

Gets the multiplier for how many cycles ArRobot waits when connecting.

int getConnectionTimeoutTime (void) const

Gets the time without a response until connection assumed lost.

double getControl (void) const

Gets the control heading.

unsigned int getCounter (void) const

Gets the Counter for the time through the loop.

unsigned int getCycleTime (void) const

Gets the number of ms between cycles.

unsigned int getCycleWarningTime (void)

Gets the number of ms between cycles to warn over.

unsigned int getCycleWarningTime (void) const

Gets the number of ms between cycles to warn over.

ArDeviceConnection * getDeviceConnection (void) const

Gets the connection this instance uses.

unsigned char getDigIn (void) const

Gets the byte representing digital input status.

unsigned char getDigOut (void) const

Gets the byte representing digital output status.

unsigned int getDirectMotionPrecedenceTime (void) const

ArRetFunctor1< double, ArPoseWithTime > * getEncoderCorrectionCallback (void) const

Gets the encoderCorrectionCallback.

ArPose getEncoderPose (void) const

Get the position of the robot according to the last robot SIP, possibly with gyro correction if installed and enabled.

size_t getEncoderPoseInterpNumReadings (void) const

Sets the number of packets back in time the encoder position interpolation goes.

int getEncoderPoseInterpPosition (ArTime timeStamp, ArPose *position)

Gets the encoder position the robot was at at the given timestamp.

ArTransform getEncoderTransform (void) const

Gets the encoder transform.

bool getEstop (void)

Returns true if the E-Stop button is pressed.

int getFaultFlags (void) const

Gets the fault flags values.

int getFlags (void) const

Gets the flags values.

double getHeadingDoneDiff (void) const

Gets the difference required for being done with a heading change.

int getIOAnalog (int num) const

Gets the n'th byte from the analog input data from the IO packet.

int getIOAnalogSize (void) const

Gets the number of bytes in the analog IO buffer.

double getIOAnalogVoltage (int num) const

Gets the n'th byte from the analog input data from the IO packet.

unsigned char getIODigIn (int num) const

Gets the n'th byte from the digital input data from the IO packet.

int getIODigInSize (void) const

Gets the number of bytes in the digital input IO buffer.

unsigned char getIODigOut (int num) const

Gets the n'th byte from the digital output data from the IO packet.

int getIODigOutSize (void) const

Gets the number of bytes in the digital output IO buffer.

ArTime getIOPacketTime (void) const

Returns the time received of the last IO packet.

ArKeyHandler * getKeyHandler (void) const

Gets the key handler attached to this robot.

ArTime getLastPacketTime (void) const

Gets the time the last packet was received.

long int getLeftEncoder (void)

Gets packet data from the left encoder.

double getLeftVel (void) const

Gets the velocity of the left wheel.

bool getLogActions (void)

Gets if we're logging all the actions as they happen.

bool getLogMovementReceived (void)

Gets if we're logging all the positions received from the robot.

bool getLogMovementSent (void)

Gets if we're logging all the movement commands sent down.

bool getLogVelocitiesReceived (void)

Gets if we're logging all the velocities (and heading) received.

int getMotorPacCount (void) const

Gets the number of motor packets received in the last second.

double getMoveDoneDist (void)

Gets the difference required for being done with a move.

const char * getName (void) const

Gets the robots name in ARIAs list.

bool getNoTimeWarningThisCycle (void)

Internal function for sync loop and sync task to see if we should warn this cycle or not.

unsigned int getNumFrontBumpers (void) const

Get the number of the front bumper switches.

unsigned int getNumRearBumpers (void) const

Gets the number of rear bumper switches.

int getNumSonar (void) const

Find the number of sonar sensors (that the robot has yet returned values for).

double getOdometerDegrees (void)

This gets the number of degrees the robot has turned (deg).

double getOdometerDistance (void)

This gets the distance the robot has travelled (mm).

double getOdometerTime (void)

This gets the time since the odometer was reset (sec).

const ArRobotConfigPacketReader * getOrigRobotConfig (void) const

Gets the original robot config packet information.

bool getPacketsReceivedTracking (void)

Gets if we're logging all the packets received (just times and types).

bool getPacketsSentTracking (void)

Gets if we're logging all the packets sent and their payload.

ArPose getPose (void) const

Get the current stored global position of the robot. This pose is updated by data reported by the robot as it moves, and may also be changed by other program components, such as a localization process (see moveTo()).

size_t getPoseInterpNumReadings (void) const

Sets the number of packets back in time the position interpol goes.

int getPoseInterpPosition (ArTime timeStamp, ArPose *position)

Gets the position the robot was at at the given timestamp.

ArPTZ * getPTZ (void)

Sets the camera this robot is using.

std::list< ArRangeDevice * > * getRangeDeviceList (void)

Gets the range device list.

ArPose getRawEncoderPose (void) const

Get the position of the robot according to the last robot SIP only, with no correction by the gyro, other devices or software proceses.

double getRealBatteryVoltage (void) const

Gets the real battery voltage of the robot.

size_t getRealBatteryVoltageAverageOfNum (void)

Gets the number of readings the battery voltage is the average of.

double getRealBatteryVoltageNow (void) const

Gets the instaneous battery voltage.

ArResolver * getResolver (void)

Gets the resolver the robot is using.

long int getRightEncoder (void)

Gets packet data from the right encoder.

double getRightVel (void) const

Gets the velocity of the right wheel.

double getRobotDiagonal (void) const

Gets the robot diagonal (half-height to diagonal of octagon) (in mm).

double getRobotLength (void) const

Gets the robot length (in mm).

double getRobotLengthFront (void) const

Gets the robot length to the front (in mm).

double getRobotLengthRear (void) const

Gets the robot length to the front (in mm).

const char * getRobotName (void) const

Returns the robot's name that is set in its onboard firmware configuration.

const ArRobotParams * getRobotParams (void) const

Gets the parameters the robot is using.

double getRobotRadius (void) const

Gets the robot radius (in mm).

const char * getRobotSubType (void) const

Returns the subtype of the robot we are currently connected to.

const char * getRobotType (void) const

Returns the type of the robot we are currently connected to.

double getRobotWidth (void) const

Gets the robot width (in mm).

double getRotAccel (void) const

Gets the rotational acceleration.

double getRotDecel (void) const

Gets the rotational acceleration.

double getRotVel (void) const

Gets the rotational velocity of the robot.

double getRotVelMax (void) const

Gets the maximum rotational velocity.

std::list< ArFunctor * > * getRunExitListCopy ()

Internal function, shouldn't be used, does what its name says.

int getSonarPacCount (void) const

Gets the number of sonar returns received in the last second.

int getSonarRange (int num) const

Gets the range of the last sonar reading for the given sonar.

ArSensorReading * getSonarReading (int num) const

Returns the sonar reading for the given sonar.

int getStabilizingTime (void) const

How long we stabilize for in ms (0 means no stabilizng).

int getStallValue (void) const

Gets the 2 bytes of stall and bumper flags from the robot (see operations manual for details).

int getStateReflectionRefreshTime (void) const

ArSyncTask * getSyncTaskRoot (void)

double getTh (void) const

Gets the global Th location of the robot.

ArTransform getToGlobalTransform (void) const

This gets the transform from local coords to global coords.

ArTransform getToLocalTransform (void) const

This gets the transform for going from global coords to local coords.

double getTransAccel (void) const

Gets the translational acceleration.

double getTransDecel (void) const

Gets the translational acceleration.

double getTransVelMax (void) const

Gets the maximum translational velocity.

double getVel (void) const

Gets the translational velocity of the robot.

double getX (void) const

Gets the global X location of the robot.

double getY (void) const

Gets the global Y location of the robot.

bool handlePacket (ArRobotPacket *packet)

bool hasFaultFlags (void) const

Gets whether or not we're getting the fault flags values.

bool hasFrontBumpers (void) const

Gets whether the robot has front bumpers (see ARCOS parameters in the robot manual).

bool hasRangeDevice (ArRangeDevice *device) const

Finds whether a particular range device is attached to this robot or not.

bool hasRearBumpers (void) const

Gets whether the robot has rear bumpers (see ARCOS parameters in the robot manual).

bool hasSettableAccsDecs (void) const

If the robot has settable accels and decels.

bool hasSettableVelMaxes (void) const

If the robot has settable maximum velocities.

bool hasTableSensingIR (void) const

Gets whether the robot has table sensing IR or not (see params in docs).

void incCounter (void)

This is only for use by syncLoop.

void init (void)

Internal function, shouldn't be used.

bool isConnected (void) const

Questions whether the robot is connected or not.

bool isCycleChained (void) const

Gets whether we chain the robot cycle to when we get in SIP packets.

bool isDirectMotion (void) const

Returns true if direct motion commands are blocking actions.

bool isEStopPressed (void) const

returns true if the estop is pressed (or unrelieved)

bool isHeadingDone (double delta=0.0) const

Sees if the robot is done changing to the previously given setHeading.

bool isLeftBreakBeamTriggered (void) const

Returns true if the left break beam IR is triggered.

bool isLeftMotorStalled (void) const

Returns true if the left motor is stalled.

bool isLeftTableSensingIRTriggered (void) const

Returns true if the left table sensing IR is triggered.

bool isMoveDone (double delta=0.0)

Sees if the robot is done moving the previously given move.

bool isRightBreakBeamTriggered (void) const

Returns true if the right break beam IR is triggered.

bool isRightMotorStalled (void) const

Returns true if the left motor is stalled.

bool isRightTableSensingIRTriggered (void) const

Returns true if the right table sensing IR is triggered.

bool isRunning (void) const

Returns whether the robot is currently running or not.

bool isSonarNew (int num) const

Find out if the given sonar reading was newly refreshed by the last incoming SIP received.

bool isStabilizing (void)

This tells us if we're in the preconnection state.

bool isTryingToMove (void)

Gets if the robot is trying to move or not.

void keyHandlerExit (void)

For the key handler, escape calls this to exit, internal.

bool loadParamFile (const char *file)

Loads a parameter file (replacing all other params).

int lock ()

Lock the robot instance.

void logActions (bool logDeactivated=false) const

Logs out the actions and their priorities.

void logAllTasks (void) const

Logs the list of all tasks, strictly for your viewing pleasure.

void logUserTasks (void) const

Logs the list of user tasks, strictly for your viewing pleasure.

void loopOnce (void)

This function loops once... only serious developers should use it.

bool madeConnection (void)

Internal function, shouldn't be used, does the initial conn stuff.

void move (double distance)

Move the given distance forward/backwards.

void moveTo (ArPose to, ArPose from, bool doCumulative=true)

Change stored pose (i.e. the value returned by getPose()).

void moveTo (ArPose pose, bool doCumulative=true)

Change stored pose (i.e. the value returned by getPose()).

void packetHandler (void)

Packet Handler, internal.

bool processEncoderPacket (ArRobotPacket *packet)

Processes a new encoder packet, internal.

bool processIOPacket (ArRobotPacket *packet)

Processes a new IO packet, internal.

bool processMotorPacket (ArRobotPacket *packet)

Processes a motor packet, internal.

void processNewSonar (char number, int range, ArTime timeReceived)

Processes a new sonar reading, internal.

void processParamFile (void)

Internal function, processes a parameter file.

bool remAction (const char *actionName)

Removes an action from the list, by name.

bool remAction (ArAction *action)

Removes an action from the list, by pointer.

void remConnectCB (ArFunctor *functor)

Removes a connect callback.

void remDisconnectNormallyCB (ArFunctor *functor)

Removes a callback for when disconnect is called while connected.

void remDisconnectOnErrorCB (ArFunctor *functor)

Removes a callback for when disconnection happens because of an error.

void remFailedConnectCB (ArFunctor *functor)

Removes a callback for when a connection to the robot is failed.

void remPacketHandler (ArRetFunctor1< bool, ArRobotPacket * > *functor)

Removes a packet handler from the list of packet handlers.

void remRangeDevice (ArRangeDevice *device)

Remove a range device from the robot's list, by instance.

void remRangeDevice (const char *name)

Remove a range device from the robot's list, by name.

void remRunExitCB (ArFunctor *functor)

Removes a callback for when the run loop exits for what ever reason.

void remSensorInterpTask (ArFunctor *functor)

Removes a sensor interp tasks by functor.

void remSensorInterpTask (const char *name)

Removes a sensor interp tasks by name.

void remStabilizingCB (ArFunctor *functor)

Removes stabilizing callback.

void remUserTask (ArFunctor *functor)

Removes a user task from the list of synchronous taskes by functor.

void remUserTask (const char *name)

Removes a user task from the list of synchronous taskes by name.

void requestEncoderPackets (void)

Starts a continuous stream of encoder packets.

void requestIOPackets (void)

Starts a continuous stream of IO packets.

void resetOdometer (void)

Resets the odometer.

void robotLocker (void)

Robot locker, internal.

void robotUnlocker (void)

Robot unlocker, internal.

void run (bool stopRunIfNotConnected)

Starts the instance to do processing in this thread.

void runAsync (bool stopRunIfNotConnected)

Starts the instance to do processing in its own new thread.

bool setAbsoluteMaxRotAccel (double maxAccel)

Sets the robot's absolute maximum rotational acceleration.

bool setAbsoluteMaxRotDecel (double maxDecel)

Sets the robot's absolute maximum rotational deceleration.

bool setAbsoluteMaxRotVel (double maxVel)

Sets the robot's absolute maximum rotational velocity.

bool setAbsoluteMaxTransAccel (double maxAccel)

Sets the robot's absolute maximum translational acceleration.

bool setAbsoluteMaxTransDecel (double maxDecel)

Sets the robot's absolute maximum translational deceleration.

bool setAbsoluteMaxTransVel (double maxVel)

Sets the robot's absolute maximum translational velocity.

void setBatteryVoltageAverageOfNum (size_t numToAverage)

Sets the number of readings the battery voltage is the average of (default 20).

void setConnectionCycleMultiplier (unsigned int multiplier)

Sets the multiplier for how many cycles ArRobot waits when connecting.

void setConnectionTimeoutTime (int mSecs)

Sets the time without a response until connection assumed lost.

void setConnectWithNoParams (bool connectWithNoParams)

internal call that will let the robot connect even if it can't find params

void setCycleChained (bool cycleChained)

Sets whether to chain the robot cycle to when we get in SIP packets.

void setCycleTime (unsigned int ms)

Sets the number of ms between cycles.

void setCycleWarningTime (unsigned int ms)

Sets the number of ms between cycles to warn over.

void setDeadReconPose (ArPose pose)

Sets the dead recon position of the robot.

void setDeltaHeading (double deltaHeading)

Sets the delta heading.

void setDeviceConnection (ArDeviceConnection *connection)

Sets the connection this instance uses.

void setDirectMotionPrecedenceTime (int mSec)

void setEncoderCorrectionCallback (ArRetFunctor1< double, ArPoseWithTime > *functor)

Sets the encoderCorrectionCallback.

void setEncoderPoseInterpNumReadings (size_t numReadings)

Sets the number of packets back in time the ArInterpolation goes for encoder readings.

void setEncoderTransform (ArPose transformPos)

Changes the transform directly.

void setEncoderTransform (ArPose deadReconPos, ArPose globalPos)

Changes the transform.

void setHeading (double heading)

Sets the heading.

void setHeadingDoneDiff (double degrees)

sets the difference required for being done with a heading change

void setLogActions (bool logActions)

Sets if we're logging all the movement commands sent down.

void setLogMovementReceived (bool logMovementReceived)

Sets if we're logging all the positions received from the robot.

void setLogMovementSent (bool logMovementSent)

Sets if we're logging all the movement commands sent down.

void setLogVelocitiesReceived (bool logVelocitiesReceived)

Sets if we're logging all the velocities (and heading) received.

void setMoveDoneDist (double dist)

Sets the difference required for being done with a move.

void setName (const char *name)

Sets the robots name in ARIAs list.

void setNoTimeWarningThisCycle (bool noTimeWarningThisCycle)

Internal function for sync loop and sync task to say if we should warn this cycle or not.

void setPacketsReceivedTracking (bool packetsReceivedTracking)

Sets if we're logging all the packets received (just times and types).

void setPacketsSentTracking (bool packetsSentTracking)

Sets if we're logging all the packets received (just times and types).

void setPoseInterpNumReadings (size_t numReadings)

Sets the number of packets back in time the ArInterpolation goes.

void setPTZ (ArPTZ *ptz)

Sets the camera this robot is using.

void setRealBatteryVoltageAverageOfNum (size_t numToAverage)

Sets the number of readings the real battery voltage is the average of (default 20).

void setResolver (ArResolver *resolver)

Sets the resolver the robot is using.

void setRotAccel (double acc)

Sets the rotational acceleration.

void setRotDecel (double decel)

Sets the rotational acceleration.

void setRotVel (double velocity)

Sets the rotational velocity.

void setRotVelMax (double vel)

Sets the maximum rotational velocity.

void setStabilizingTime (int mSecs)

How long we should stabilize for in ms (0 disables stabilizing).

void setStateReflectionRefreshTime (int msec)

void setTransAccel (double acc)

Sets the translational acceleration.

void setTransDecel (double decel)

Sets the translational acceleration.

void setTransVelMax (double vel)

Sets the maximum translational velocity.

void setUpPacketHandlers (void)

Internal function, shouldn't be used, sets up the default packet handlers.

void setUpSyncList (void)

Internal function, shouldn't be used, sets up the default sync list.

void setVel (double velocity)

void setVel2 (double leftVelocity, double rightVelocity)

Sets the velocity of the wheels independently.

void startStabilization (void)

Internal function, shouldn't be used, calls the preconnected stuff.

void stateReflector (void)

State Reflector, internal.

void stop (void)

void stopEncoderPackets (void)

Stops a continuous stream of encoder packets.

void stopIOPackets (void)

Stops a continuous stream of IO packets.

void stopRunning (bool doDisconnect=true)

Stops the robot from doing any more processing.

void stopStateReflection (void)

int tryLock ()

Try to lock the robot instance without blocking.

int unlock ()

Unlock the robot instance.

WaitState waitForConnect (unsigned int msecs=0)

Suspend calling thread until the ArRobot is connected.

WaitState waitForConnectOrConnFail (unsigned int msecs=0)

Suspend calling thread until the ArRobot is connected or fails to connect.

WaitState waitForRunExit (unsigned int msecs=0)

Suspend calling thread until the ArRobot run loop has exited.

void wakeAllConnOrFailWaitingThreads ()

Wake up all threads waiting for connection or connection failure.

void wakeAllConnWaitingThreads ()

Wake up all threads waiting for connection.

void wakeAllRunExitWaitingThreads ()

Wake up all threads waiting for the run loop to exit.

void wakeAllWaitingThreads ()

Wake up all threads waiting on this robot.

~ArRobot ()

Destructor.

Public Attributes

ArFunctorC< ArRobot > myActionHandlerCB

ArRetFunctor1C< bool, ArRobot,
ArRobotPacket * > myEncoderPacketCB

ArRetFunctorC< unsigned int,
ArRobot > myGetCycleWarningTimeCB

ArRetFunctorC< bool, ArRobot > myGetNoTimeWarningThisCycleCB

ArRetFunctor1C< bool, ArRobot,
ArRobotPacket * > myIOPacketCB

ArFunctorC< ArKeyHandler > * myKeyHandlerCB

ArFunctorC< ArRobot > myKeyHandlerExitCB

ArRetFunctor1C< bool, ArRobot,
ArRobotPacket * > myMotorPacketCB

ArFunctorC< ArRobot > myPacketHandlerCB

ArFunctorC< ArRobot > myRobotLockerCB

ArFunctorC< ArRobot > myRobotUnlockerCB

ArFunctorC< ArRobot > myStateReflectorCB

Protected Types

ROT_HEADING

ROT_IGNORE

ROT_NONE

ROT_VEL

enum RotDesired { ROT_NONE, ROT_IGNORE, ROT_HEADING, ROT_VEL }

TRANS_DIST

TRANS_DIST_NEW

TRANS_IGNORE

TRANS_NONE

TRANS_VEL

TRANS_VEL2

enum TransDesired {
  TRANS_NONE, TRANS_IGNORE, TRANS_VEL, TRANS_VEL2,
  TRANS_DIST, TRANS_DIST_NEW
}

Protected Member Functions

void reset (void)

Protected Attributes

double myAbsoluteMaxRotAccel

double myAbsoluteMaxRotDecel

double myAbsoluteMaxRotVel

double myAbsoluteMaxTransAccel

double myAbsoluteMaxTransDecel

double myAbsoluteMaxTransVel

ArActionDesired myActionDesired

bool myActionRotSet

ArResolver::ActionMap myActions

bool myActionTransSet

bool myAddedAriaExitCB

unsigned char myAnalog

int myAnalogPortSelected

ArFunctorC< ArRobot > myAriaExitCB

bool myAsyncConnectFlag

int myAsyncConnectNoPacketCount

bool myAsyncConnectSentChangeBaud

int myAsyncConnectStartBaud

ArTime myAsyncConnectStartedChangeBaud

int myAsyncConnectState

int myAsyncConnectTimesTried

ArTime myAsyncStartedConnection

ArRunningAverage myBatteryAverager

double myBatteryVoltage

bool myBlockingConnectRun

ChargeState myChargeState

double myCompass

ArDeviceConnection * myConn

std::list< ArFunctor * > myConnectCBList

ArCondition myConnectCond

unsigned int myConnectionCycleMultiplier

bool myConnectWithNoParams

ArCondition myConnOrFailCond

double myControl

unsigned int myCounter

bool myCycleChained

unsigned int myCycleTime

unsigned int myCycleWarningTime

unsigned char myDigIn

unsigned char myDigOut

int myDirectPrecedenceTime

std::list< ArFunctor * > myDisconnectNormallyCBList

std::list< ArFunctor * > myDisconnectOnErrorCBList

ArRetFunctor1< double, ArPoseWithTime > * myEncoderCorrectionCB

ArTransform myEncoderGlobalTrans

ArInterpolation myEncoderInterpolation

ArPoseWithTime myEncoderPose

ArTime myEncoderPoseTaken

ArTransform myEncoderTransform

std::list< ArFunctor * > myFailedConnectCBList

int myFaultFlags

bool myFirstEncoderPose

int myFlags

ArPose myGlobalPose

bool myHasFaultFlags

double myHeadingDoneDiff

ArInterpolation myInterpolation

int myIOAnalog [128]

int myIOAnalogSize

unsigned char myIODigIn [255]

int myIODigInSize

unsigned char myIODigOut [255]

int myIODigOutSize

bool myIsConnected

bool myIsStabilizing

ArKeyHandler * myKeyHandler

bool myKeyHandlerUseExitNotShutdown

bool myLastActionRotHeading

bool myLastActionRotStopped

int myLastActionRotVal

int myLastActionTransVal

double myLastCalculatedRotVel

double myLastHeading

ArTime myLastIOPacketReceivedTime

ArTime myLastPacketReceivedTime

ArTime myLastPulseSent

ArTime myLastRotSent

RotDesired myLastRotType

int myLastRotVal

double myLastRotVel

double myLastSentRotAccel

double myLastSentRotDecel

double myLastSentRotVelMax

double myLastSentTransAccel

double myLastSentTransDecel

double myLastSentTransVelMax

int myLastTh

ArTime myLastTransSent

TransDesired myLastTransType

int myLastTransVal

int myLastTransVal2

double myLastVel

int myLastX

int myLastY

long int myLeftEncoder

double myLeftVel

bool myLogActions

bool myLogMovementReceived

bool myLogMovementSent

bool myLogVelocitiesReceived

int myMotorPacCount

int myMotorPacCurrentCount

double myMoveDoneDist

ArMutex myMutex

std::string myName

bool myNoTimeWarningThisCycle

int myNumSonar

double myOdometerDegrees

double myOdometerDistance

ArTime myOdometerStart

ArRobotConfigPacketReader * myOrigRobotConfig

bool myOwnTheResolver

std::list< ArRetFunctor1<
bool, ArRobotPacket * > * > myPacketHandlerList

bool myPacketsReceivedTracking

long myPacketsReceivedTrackingCount

ArTime myPacketsReceivedTrackingStarted

bool myPacketsSentTracking

ArRobotParams * myParams

ArPTZ * myPtz

std::list< ArRangeDevice * > myRangeDeviceList

ArPoseWithTime myRawEncoderPose

ArRunningAverage myRealBatteryAverager

double myRealBatteryVoltage

ArRobotPacketReceiver myReceiver

bool myRequestedEncoderPackets

bool myRequestedIOPackets

ArResolver * myResolver

long int myRightEncoder

double myRightVel

double myRobotLengthFront

double myRobotLengthRear

std::string myRobotName

std::string myRobotSubType

std::string myRobotType

double myRotAccel

double myRotDecel

ArTime myRotSetTime

RotDesired myRotType

double myRotVal

double myRotVel

double myRotVelMax

std::list< ArFunctor * > myRunExitCBList

ArCondition myRunExitCond

ArRobotPacketSender mySender

bool mySentPulse

int mySonarPacCount

int mySonarPacCurrentCount

std::map< int, ArSensorReading * > mySonars

std::list< ArFunctor * > myStabilizingCBList

int myStabilizingTime

int myStallValue

ArTime myStartedStabilizing

int myStateReflectionRefreshTime

ArSyncLoop mySyncLoop

ArSyncTask * mySyncTaskRoot

time_t myTimeLastMotorPacket

time_t myTimeLastSonarPacket

int myTimeoutTime

double myTransAccel

double myTransDecel

ArPose myTransDistStart

ArTime myTransSetTime

TransDesired myTransType

double myTransVal

double myTransVal2

double myTransVelMax

bool myTryingToMove

double myVel

bool myWarnedAboutExtraSonar

Member Enumeration Documentation

enum ArRobot::WaitState

Enumerator:

WAIT_CONNECTED	The robot has connected.
WAIT_FAILED_CONN	The robot failed to connect.
WAIT_RUN_EXIT	The run loop has exited.
WAIT_TIMEDOUT	The wait reached the timeout specified.
WAIT_INTR	The wait was interupted by a signal.
WAIT_FAIL	The wait failed due to an error.

Definition at line 77 of file ArRobot.h.

Constructor & Destructor Documentation

ArRobot::ArRobot	(	const char *	name = `NULL`,
		bool	obsolete = `true`,
		bool	doSigHandle = `true`,
		bool	normalInit = `true`,
		bool	addAriaExitCallback = `true`
	)

Constructor.

The parameters only rarely need to be specified.

Parameters:

	name	A name for this robot, useful if a program has more than one ArRobot object
	obsolete	This parameter is ignored. (It used to turn off state reflection if false, but that is no longer possible.)
	normalInit	whether the robot should initializes its structures or the calling program will take care of it. No one will probalby ever use this value, since if they are doing that then overriding will probably be more useful, but there it is.
	doSigHandle	do normal signal handling and have this robot instance stopRunning() when the program is signaled

Definition at line 69 of file ArRobot.cpp.

Member Function Documentation

void ArRobot::actionHandler ( void )

Action Handler, internal.

Runs the resolver on the actions, it just saves these values for use by the stateReflector, otherwise it sends these values straight down to the robot.

See also:: addAction
remAction

Definition at line 3435 of file ArRobot.cpp.

bool ArRobot::addAction	(	ArAction *	action,
		int	priority
	)

Adds an action to the list with the given priority.

Adds an action to the list of actions with the given priority. In the case of two (or more) actions with the same priority, the default resolver (ArPriorityResolver) averages the the multiple readings. The priority can be any integer, but as a convention 0 to 100 is used, with 100 being the highest priority. The default resolver (ArPriorityResolver) resolves the actions in order of descending priority. For example, an action with priority 100 is evaluated before one with priority 99, followed by 50, etc. This means that an action with a higher priority may be able to supercede a lower-priority action's desired value for a certain output to a lesser or greater degree, depending on how high a "strength" value it sets. See the overview of ARIA in this reference manual for more discussion on Actions.

Parameters:

	action	the action to add
	priority	what importance to give the action; how to order the actions. High priority actions are evaluated by the action resolvel before lower priority actions.

Returns:: true if the action was successfully added, false on error (e.g. the action was NULL)

See also:

remAction(ArAction*)

remAction(const char*)

findAction(const char*)

Examples:: actionExample.cpp, actsColorFollowingExample.cpp, gotoActionExample.cpp, gripperExample.cpp, gyroExample.cpp, joydriveActionExample.cpp, robotSyncTaskExample.cpp, teleopActionsExample.cpp, triangleDriveToActionExample.cpp, and wander.cpp.

Definition at line 2492 of file ArRobot.cpp.

void ArRobot::addConnectCB	(	ArFunctor *	functor,
		ArListPos::Pos	position = `ArListPos::LAST`
	)

Adds a connect callback.

Adds a connect callback, which is an ArFunctor, (created as an ArFunctorC). The entire list of connect callbacks is called when a connection is made with the robot. If you have some sort of module that adds a callback, that module must remove the callback when the module is removed.

Parameters:

	functor	A functor (created from ArFunctorC) which refers to the function to call.
	position	whether to place the functor first or last

See also:: remConnectCB

Examples:: robotConnectionCallbacks.cpp.

Definition at line 1865 of file ArRobot.cpp.

void ArRobot::addDisconnectNormallyCB	(	ArFunctor *	functor,
		ArListPos::Pos	position = `ArListPos::LAST`
	)

Adds a callback for when disconnect is called while connected.

Adds a disconnect normally callback,which is an ArFunctor, created as an ArFunctorC. This whole list of disconnect normally callbacks is called when something calls disconnect if the instance isConnected. If there is no connection and disconnect is called nothing is done. If you have some sort of module that adds a callback, that module must remove the callback when the module is removed.

Parameters:

	functor	functor created from ArFunctorC which refers to the function to call.
	position	whether to place the functor first or last

See also:: remFailedConnectCB

Definition at line 1932 of file ArRobot.cpp.

void ArRobot::addDisconnectOnErrorCB	(	ArFunctor *	functor,
		ArListPos::Pos	position = `ArListPos::LAST`
	)

Adds a callback for when disconnection happens because of an error.

Adds a disconnect on error callback, which is an ArFunctor, created as an ArFunctorC. This whole list of disconnect on error callbacks is called when ARIA loses connection to a robot because of an error. This can occur if the physical connection (ie serial cable) between the robot and the computer is severed/disconnected, if one of a pair of radio modems that connect the robot and computer are disconnected, if someone presses the reset button on the robot, or if the simulator is closed while ARIA is connected to it. Note that if the link between the two is lost the ARIA assumes it is temporary until it reaches a timeout value set with setConnectionTimeoutTime. If you have some sort of module that adds a callback, that module must remove the callback when the module removed.

Parameters:

	functor	functor created from ArFunctorC which refers to the function to call.
	position	whether to place the functor first or last

See also:: remDisconnectOnErrorCB

Definition at line 1969 of file ArRobot.cpp.

void ArRobot::addFailedConnectCB	(	ArFunctor *	functor,
		ArListPos::Pos	position = `ArListPos::LAST`
	)

Adds a callback for when a connection to the robot is failed.

Adds a failed connect callback,which is an ArFunctor, created as an ArFunctorC. This whole list of failed connect callbacks is called when an attempt is made to connect to the robot, but fails. The usual reason for this failure is either that there is no robot/sim where the connection was tried to be made, the robot wasn't given a connection, or the radio modems that communicate with the robot aren't on. If you have some sort of module that adds a callback, that module must remove the callback when the module removed.

Parameters:

	functor	functor created from ArFunctorC which refers to the function to call.
	position	whether to place the functor first or last

See also:: remFailedConnectCB

Definition at line 1900 of file ArRobot.cpp.

void ArRobot::addPacketHandler	(	ArRetFunctor1< bool, ArRobotPacket * > *	functor,
		ArListPos::Pos	position = `ArListPos::LAST`
	)

Adds a packet handler to the list of packet handlers.

Adds a packet handler. A packet handler is an ArRetFunctor1<bool, ArRobotPacket*>, (e.g. created as an instance of ArRetFunctor1C. The return is a boolean, while the functor takes an ArRobotPacket pointer as the argument. This functor is placed in a list of functors to call when a packet arrives. This list is processed in order until one of the handlers returns true. Your packet handler function may be invoked for any packet, so it should test the packet type ID (see ArRobotPacket::getID()). If you handler gets data from the packet (it "handles" it) it should return true, to prevent ArRobot from invoking other handlers with the packet (with data removed). If you hander cannot interpret the packet, it should leave it unmodified and return false to allow other handlers a chance to receive it.

Parameters:

	functor	the functor to call when the packet comes in
	position	whether to place the functor first or last

See also:: remPacketHandler

Examples:: auxSerialExample.cpp.

Definition at line 1832 of file ArRobot.cpp.

void ArRobot::addRunExitCB	(	ArFunctor *	functor,
		ArListPos::Pos	position = `ArListPos::LAST`
	)

Adds a callback for when the run loop exits for what ever reason.

Adds a callback that is called when the run loop exits. The functor is which is an ArFunctor, created as an ArFunctorC. The whole list of functors is called when the run loop exits. This is most usefull for threaded programs that run the robot using ArRobot::runAsync. This will allow user threads to know when the robot loop has exited.

Parameters:

	functor	functor created from ArFunctorC which refers to the function to call.
	position	whether to place the functor first or last

See also:: remRunExitCB

Definition at line 2001 of file ArRobot.cpp.

bool ArRobot::addSensorInterpTask	(	const char *	name,
		int	position,
		ArFunctor *	functor,
		ArTaskState::State *	state = `NULL`
	)

Adds a task under the sensor interp part of the syncronous tasks.

The synchronous tasks get called every robot cycle (every 100 ms by default).

Parameters:

	name	the name to give to the task, should be unique
	position	the place in the list of user tasks to place this task, this can be any integer, though by convention 0 to 100 is used. The tasks are called in order of highest number to lowest number.
	functor	functor created from ArFunctorC which refers to the function to call.

See also:: remSensorInterpTask

Examples:: dpptuExample.cpp, robotSyncTaskExample.cpp, and vcc4CameraExample.cpp.

Definition at line 2315 of file ArRobot.cpp.

void ArRobot::addStabilizingCB	(	ArFunctor *	functor,
		ArListPos::Pos	position = `ArListPos::LAST`
	)

Adds a callback called when the robot starts stabilizing before declaring connection.

Adds a stablizing callback, which is an ArFunctor, created as an ArFunctorC. The entire list of connect callbacks is called just before the connection is called done to the robot. This time can be used to calibtrate readings (on things like gyros).

Parameters:

	functor	The functor to call (e.g. ArFunctorC)
	position	whether to place the functor first or last

See also:: remConnectCB

Definition at line 2033 of file ArRobot.cpp.

bool ArRobot::addUserTask	(	const char *	name,
		int	position,
		ArFunctor *	functor,
		ArTaskState::State *	state = `NULL`
	)

Adds a user task to the list of synchronous taskes.

The synchronous tasks get called every robot cycle (every 100 ms by default).

Parameters:

	name	the name to give to the task, should be unique
	position	the place in the list of user tasks to place this task, this can be any integer, though by convention 0 to 100 is used. The tasks are called in order of highest number to lowest position number.
	functor	functor created from ArFunctorC which refers to the function to call.

See also:: remUserTask

Examples:: gripperExample.cpp, gyroExample.cpp, and sonyPTZDemo.cpp.

Definition at line 2237 of file ArRobot.cpp.

void ArRobot::applyTransform	(	ArTransform	trans,
		bool	doCumulative = `true`
	)

This applies a transform to all the robot range devices and to the sonar.

Applies a transform to the range devices and sonar... this is mostly useful for translating to/from local/global coords, but may have other uses

Parameters:

	trans	the transform to apply
	doCumulative	whether to transform the cumulative buffers or not

Definition at line 4715 of file ArRobot.cpp.

bool ArRobot::asyncConnect ( void )

Connects to a robot, from the robots own thread.

Sets up the robot to connect, then returns, but the robot must be running (ie from runAsync) before you do this. Also this will fail if the robot is already connected. If you want to know what happened because of the connect then look at the callbacks. NOTE, this will not lock robot before setting values, so you MUST lock the robot before you call this function and unlock the robot after you call this function. If you fail to lock the robot, you'll may wind up with wierd behavior. Other than the aspect of blocking or not the only difference between async and blocking connects (other than the blocking) is that async is run every robot cycle, whereas blocking runs as fast as it can... also blocking will try to reconnect a radio modem if it looks like it didn't get connected in the first place, so blocking can wind up taking 10 or 12 seconds to decide it can't connect, whereas async doesn't try hard at all to reconnect the radio modem (beyond its first try) (under the assumption the async connect is user driven, so they'll just try again, and so that it won't mess up the sync loop by blocking for so long).

Returns:: true if the robot is running and the robot will try to connect, false if the robot isn't running so won't try to connect or if the robot is already connected

See also:

addConnectCB

addFailedConnectCB

runAsync

Definition at line 576 of file ArRobot.cpp.

int ArRobot::asyncConnectHandler ( bool tryHarderToConnect )

Internal function, shouldn't be used, does a single run of connecting.

This is an internal function that is used both for async connects and blocking connects use to connect. It does about the same thing for both, and it should only be used by asyncConnect and blockingConnect really. But here it is. The only difference between when its being used by blocking/async connect is that in blocking mode if it thinks there may be problems with the radio modem it pauses for two seconds trying to deal with this... whereas in async mode it tries to deal with this in a simpler way.

Parameters:

tryHarderToConnect

if this is true, then if the radio modems look like they aren't working, it'll take about 2 seconds to try and connect them, whereas if its false, it'll do a little try, but won't try very hard

Returns:: 0 if its still trying to connect, 1 if it connected, 2 if it failed

Definition at line 650 of file ArRobot.cpp.

void ArRobot::attachKeyHandler	(	ArKeyHandler *	keyHandler,
		bool	exitOnEscape = `true`,
		bool	useExitNotShutdown = `true`
	)

Attachs a key handler.

This will attach a key handler to a robot, by putting it into the robots sensor interp task list (a keyboards a sensor of users will, right?). By default exitOnEscape is true, which will cause this function to add an escape key handler to the key handler, this will make the program exit when escape is pressed... if you don't like this you can pass exitOnEscape in as false.

Parameters:

	keyHandler	the key handler to attach
	exitOnEscape	whether to exit when escape is pressed or not
	useExitNotShutdown	if true then Aria::exit will be called instead of Aria::shutdown if it tries to exit

Examples:: actionGroupExample.cpp, actsColorFollowingExample.cpp, demo.cpp, gotoActionExample.cpp, gripperExample.cpp, lineFinderExample.cpp, triangleDriveToActionExample.cpp, and wander.cpp.

Definition at line 4959 of file ArRobot.cpp.

bool ArRobot::blockingConnect ( void )

Connects to a robot, not returning until connection made or failed.

Connects to the robot, returning only when a connection has been made or it has been established a connection can't be made. This connection usually is fast, but can take up to 30 seconds if the robot is in a wierd state (this is not often). If the robot is connected via ArSerialConnection then the connect will also connect the radio modems. Upon a successful connection all of the Connection Callback Functors that have been registered will be called. NOTE, this will lock the robot before setting values, so you MUST not have the robot locked from where you call this function. If you do, you'll wind up in a deadlock. This behavior is there because otherwise you'd have to lock the robot before calling this function, and normally blockingConnect will be called from a separate thread, and that thread won't be doing anything else with the robot at that time. Other than the aspect of blocking or not the only difference between async and blocking connects (other than the blocking) is that async is run every robot cycle, whereas blocking runs as fast as it can... also blocking will try to reconnect a radio modem if it looks like it didn't get connected in the first place, so blocking can wind up taking 10 or 12 seconds to decide it can't connect, whereas async doesn't try hard at all to reconnect the radio modem (under the assumption the async connect is user driven, so they'll just try again, and so that it won't mess up the sync loop by blocking for so long).

Returns:: true if a connection could be made, false otherwise

Examples:: sonyPTZDemo.cpp, and vcc4CameraExample.cpp.

Definition at line 617 of file ArRobot.cpp.

double ArRobot::checkRangeDevicesCumulativeBox	(	double	x1,
		double	y1,
		double	x2,
		double	y2,
		ArPose *	readingPos = `NULL`,
		const ArRangeDevice **	rangeDevice = `NULL`,
		bool	useLocationDependentDevices = `true`
	)			const

This goes through all of the registered range devices and locks each, calls cumulativeReadingBox on it, and then unlocks it.

Gets the closest reading in a region defined by the two points of a rectangle.

Parameters:

	x1	the x coordinate of one of the rectangle points
	y1	the y coordinate of one of the rectangle points
	x2	the x coordinate of the other rectangle point
	y2	the y coordinate of the other rectangle point
	readingPos	a pointer to a position in which to store the location of the closest position

Returns:: if the return is >= 0 then this is the distance to the closest reading, if it is < 0 then there were no readings in the given region

Definition at line 4491 of file ArRobot.cpp.

double ArRobot::checkRangeDevicesCumulativePolar	(	double	startAngle,
		double	endAngle,
		double *	angle = `NULL`,
		const ArRangeDevice **	rangeDevice = `NULL`,
		bool	useLocationDependentDevices = `true`
	)			const

Goes through all the range devices and checks them.

Find the closest reading from any range device's set of cumulative readings within a polar region or "slice" defined by the given angle range. This function iterates through each registered range device (see addRangeDevice()), calls ArRangeDevice::lockDevice(), uses ArRangeDevice::cumulativeReadingPolar() to find a reading, then calls ArRangeDevice::unlockDevice().

Gets the closest cumulative reading in the given polar region.

The closest reading in this range device's cumulative buffer within a polar region or "slice" defined by the given angle range is returned. Optionally return the specific angle of the found reading as well. The region searched is the region between a starting angle, sweeping counter-clockwise to the ending angle (0 is straight ahead of the device, -90 to the right, 90 to the left). Note that there is a difference between the region (0, 10) and (10, 0). (0, 10) is a 10-degree span near the front of the device, while (10, 0) is a 350 degree span covering the sides and rear. Similarly, (-60, -30) covers 30 degrees on the right hand side, while (-30, -60) covers 330 degrees. In other words, if you want the smallest section between the two angles, ensure than startAngle < endAngle.

Parameters:

	startAngle	where to start the slice
	endAngle	where to end the slice, going counterclockwise from startAngle
	angle	if given, a pointer to a value in which to put the specific angle to the found reading

Returns:: the range to the obstacle (a value >= the maximum range indicates that no reading was detected in the specified region)

Example:

This figure illustrates an example range device and the meanings of arguments and return value.

Parameters:

rangeDevice

If not null, then a pointer to the ArRangeDevice that provided the returned reading is placed in this variable.

Definition at line 4358 of file ArRobot.cpp.

double ArRobot::checkRangeDevicesCurrentBox	(	double	x1,
		double	y1,
		double	x2,
		double	y2,
		ArPose *	readingPos = `NULL`,
		const ArRangeDevice **	rangeDevice = `NULL`,
		bool	useLocationDependentDevices = `true`
	)			const

This goes through all of the registered range devices and locks each, calls currentReadingBox on it, and then unlocks it.

Gets the closest reading in a region defined by the two points of a rectangle.

Parameters:

	x1	the x coordinate of one of the rectangle points
	y1	the y coordinate of one of the rectangle points
	x2	the x coordinate of the other rectangle point
	y2	the y coordinate of the other rectangle point
	readingPos	a pointer to a position in which to store the location of the closest position

Returns:: if the return is >= 0 then this is the distance to the closest reading, if it is < 0 then there were no readings in the given region

Definition at line 4425 of file ArRobot.cpp.

double ArRobot::checkRangeDevicesCurrentPolar	(	double	startAngle,
		double	endAngle,
		double *	angle = `NULL`,
		const ArRangeDevice **	rangeDevice = `NULL`,
		bool	useLocationDependentDevices = `true`
	)			const

Goes through all the range devices and checks them.

Find the closest reading from any range device's set of current readings within a polar region or "slice" defined by the given angle range. This function iterates through each registered range device (see addRangeDevice()), calls ArRangeDevice::lockDevice(), uses ArRangeDevice::currentReadingPolar() to find a reading, then calls ArRangeDevice::unlockDevice().

Gets the closest current reading in the given polar region.

The closest reading within a polar region or "slice" defined by the given angle range is returned. Optionally, the specific angle of the found may be placed in angle, if not NULL. The region searched is the region between startAngle, sweeping counter-clockwise to endAngle (0 is straight ahead of the device, -90 to the right, 90 to the left). Note that therefore there is a difference between e.g. the regions (0, 10) and (10, 0). (0, 10) is a 10-degree span near the front of the device, while (10, 0) is a 350 degree span covering the sides and rear. Similarly, (-60, -30) covers 30 degrees on the right hand side, while (-30, -60) covers 330 degrees. (-90, 90) is 180 degrees in front. (-180, 180) covers all sides of the robot. In other words, if you want the smallest section between the two angles, ensure that startAngle < endAngle.

Parameters:

	startAngle	where to start the slice
	endAngle	where to end the slice, going counterclockwise from startAngle
	angle	if given, a pointer to a value in which to put the specific angle to the found reading

Returns:: the range to the obstacle (a value >= the maximum range indicates that no reading was detected in the specified region)

Example:

This figure illustrates an example range device and the meanings of arguments and return value.

Parameters:

rangeDevice

If not null, then a pointer to the ArRangeDevice that provided the returned reading is placed in this variable.

Definition at line 4294 of file ArRobot.cpp.

void ArRobot::clearDirectMotion ( void )

Clears what direct motion commands have been given, so actions work.

This clears the direct motion commands so that actions will be allowed to control the robot again.

See also:: setDirectMotionPrecedenceTime
getDirectMotionPrecedenceTime

Definition at line 4843 of file ArRobot.cpp.

bool ArRobot::com ( unsigned char command )

Sends a command to the robot with no arguments.

Parameters:

command

the command number to send

Returns:: whether the command could be sent or not

See also:: ArCommands

Definition at line 4047 of file ArRobot.cpp.

bool ArRobot::com2Bytes	(	unsigned char	command,
		char	high,
		char	low
	)

Sends a command to the robot with two bytes for argument.

Parameters:

	command	the command number to send
	high	the high byte to send with the command
	low	the low byte to send with the command

Returns:: whether the command could be sent or not

See also:: ArCommands

Definition at line 4074 of file ArRobot.cpp.

bool ArRobot::comInt	(	unsigned char	command,
		short int	argument
	)

Sends a command to the robot with an int for argument.

Parameters:

	command	the command number to send
	argument	the integer argument to send with the command

Returns:: whether the command could be sent or not

See also:: ArCommands

Examples:: actsColorFollowingExample.cpp, armExample.cpp, auxSerialExample.cpp, demo.cpp, dpptuExample.cpp, gotoActionExample.cpp, gyroExample.cpp, joydriveActionExample.cpp, robotSyncTaskExample.cpp, sonyPTZDemo.cpp, triangleDriveToActionExample.cpp, vcc4CameraExample.cpp, and wander.cpp.

Definition at line 4060 of file ArRobot.cpp.

bool ArRobot::comStr	(	unsigned char	command,
		const char *	argument
	)

Sends a command to the robot with a length-prefixed string for argument.

Parameters:

	command	the command number to send
	argument	NULL-terminated string to get data from to send with the command; length to send with packet is determined by strlen

Returns:: whether the command could be sent or not

See also:: ArCommands

Examples:: auxSerialExample.cpp.

Definition at line 4088 of file ArRobot.cpp.

bool ArRobot::comStrN	(	unsigned char	command,
		const char *	str,
		int	size
	)

Sends a command to the robot with a length-prefixed string for argument.

Sends a length-prefixed string command to the robot, copying 'size' bytes of data from 'str' into the packet.

Parameters:

	command	the command number to send
	str	copy data to send from this character array
	size	length of the string to send; copy this many bytes from 'str'; use this value as the length prefix byte before the sent string. This length must be less than the maximum packet size of 200.

Returns:: whether the command could be sent or not

See also:: ArCommands

Definition at line 4105 of file ArRobot.cpp.

void ArRobot::disableMotors ( )

Disables the motors on the robot.

This command disables the motors on the robot, if it is connected.

Definition at line 4894 of file ArRobot.cpp.

void ArRobot::disableSonar ( )

Disables the sonar on the robot.

This command disables the sonars on the robot, if it is connected.

Definition at line 4910 of file ArRobot.cpp.

bool ArRobot::disconnect ( void )

Disconnects from a robot.

Disconnects from a robot. This also calls of the DisconnectNormally Callback Functors if the robot was actually connected to a robot when this member was called.

Returns:: true if not connected to a robot (so no disconnect can happen, but it didn't failed either), also true if the command could be sent to the robot (ie connection hasn't failed)

Definition at line 1367 of file ArRobot.cpp.

void ArRobot::enableMotors ( )

Enables the motors on the robot.

This command enables the motors on the robot, if it is connected.

Examples:: actionExample.cpp, actionGroupExample.cpp, gotoActionExample.cpp, gripperExample.cpp, and teleopActionsExample.cpp.

Definition at line 4886 of file ArRobot.cpp.

void ArRobot::enableSonar ( )

Enables the sonar on the robot.

This command enables the sonars on the robot, if it is connected.

Definition at line 4902 of file ArRobot.cpp.

ArAction * ArRobot::findAction ( const char * actionName )

Returns the first (highest priority) action with the given name (or NULL).

Finds the action with the given name... if more than one action has that name it find the one with the highest priority

Parameters:

actionName

the name of the action we want to find

Returns:: the action, if found. If not found, NULL

See also:

addAction

remAction(ArAction*)

remAction(const char*)

Definition at line 2576 of file ArRobot.cpp.

ArRangeDevice * ArRobot::findRangeDevice ( const char * name )

Finds a rangeDevice in the robot's list.

Parameters:

name

return the first device with this name

Returns:: if found, a range device with the given name, if not found NULL

Definition at line 4219 of file ArRobot.cpp.

const ArRangeDevice * ArRobot::findRangeDevice ( const char * name ) const

Finds a rangeDevice in the robot's list.

Parameters:

name

return the first device with this name

Returns:: if found, a range device with the given name, if not found NULL

Examples:: actionExample.cpp.

Definition at line 4239 of file ArRobot.cpp.

ArSyncTask * ArRobot::findTask ( ArFunctor * functor )

Finds a task by functor.

Finds a task by its functor, searching the entire space of tasks

Returns:: NULL if no task with that functor found, otherwise a pointer to the ArSyncTask for the first task found with that functor

Definition at line 2462 of file ArRobot.cpp.

ArSyncTask * ArRobot::findTask ( const char * name )

Finds a task by name.

Finds a task by its name, searching the entire space of tasks

Returns:: NULL if no task of that name found, otherwise a pointer to the ArSyncTask for the first task found with that name

Definition at line 2448 of file ArRobot.cpp.

ArSyncTask * ArRobot::findUserTask ( ArFunctor * functor )

Finds a user task by functor.

Finds a user task by its functor, searching the entire space of tasks

Returns:: NULL if no user task with that functor found, otherwise a pointer to the ArSyncTask for the first task found with that functor

Definition at line 2430 of file ArRobot.cpp.

ArSyncTask * ArRobot::findUserTask ( const char * name )

Finds a user task by name.

Finds a user task by its name, searching the entire space of tasks

Returns:: NULL if no user task of that name found, otherwise a pointer to the ArSyncTask for the first task found with that name

Definition at line 2412 of file ArRobot.cpp.

void ArRobot::forceTryingToMove ( void ) [inline]

Sets the flag that says the robot is trying to move.

This is so that things that might move can make the robot look like it is trying to move. For example, so teleop mode can say that it might make the robot move, so the sonar aren't turned off

See also:: isTryingToMove

Definition at line 450 of file ArRobot.h.

ArResolver::ActionMap * ArRobot::getActionMap ( void )

Returns the map of actions... don't do this unless you really know what you're doing

Definition at line 2600 of file ArRobot.cpp.

double ArRobot::getBatteryVoltage ( void ) const [inline]

Gets the battery voltage of the robot (normalized to 12 volt system).

This value is averaged over a number of readings, (You can get this number by calling getBatteryVoltageAverageOfNum and set this with setBatteryVoltageAverageOfNum... you can call getBatteryVoltageNow to get the reading from the last packet.

This is a value normalized to 12 volts, if you want what the actual voltage of the robot is use getRealBatteryVoltage.

Examples:: simpleConnect.cpp.

Definition at line 306 of file ArRobot.h.

double ArRobot::getBatteryVoltageNow ( void ) const [inline]

Gets the instaneous battery voltage.

This is a value normalized to 12 volts, if you want what the actual voltage of the robot is use getRealBatteryVoltage.

Definition at line 312 of file ArRobot.h.

ArRobot::ChargeState ArRobot::getChargeState ( void ) const

Gets the charge state of the robot (see long docs).

Note that this is only available on robots with an firwmare operating system (ARCOS or uARCS) thats at least newer than July of 2005. It'll just be CHARGING_UNKNOWN on everything else always.

Definition at line 5010 of file ArRobot.cpp.

unsigned int ArRobot::getConnectionCycleMultiplier ( void ) const

Gets the multiplier for how many cycles ArRobot waits when connecting.

Returns:: when the ArRobot is waiting for a connection packet back from a robot, it waits for this multiplier times the cycle time for the packet to come back before it gives up on it... This should be small for normal connections but if doing something over a slow network then you may want to make it larger

Definition at line 3574 of file ArRobot.cpp.

int ArRobot::getConnectionTimeoutTime ( void ) const

Gets the time without a response until connection assumed lost.

Gets the number of seconds to go without response from the robot until it is assumed tha tthe connection with the robot has been broken and the disconnect on error events will happen.

Definition at line 531 of file ArRobot.cpp.

double ArRobot::getControl ( void ) const [inline]

Gets the control heading.

Gets the control heading as an offset from the current heading.

See also:: getTh

Definition at line 354 of file ArRobot.h.

unsigned int ArRobot::getCycleTime ( void ) const

Gets the number of ms between cycles.

Finds the number of milliseconds between cycles, at each cycle is when all packets are processed, all sensors are interpretted, all actions are called, and all user tasks are serviced. Be warned, if you set this too small you could overflow your serial connection.

Returns:: the number of milliseconds between cycles

Definition at line 3547 of file ArRobot.cpp.

unsigned int ArRobot::getCycleWarningTime ( void )

Gets the number of ms between cycles to warn over.

Sets a time such that if the number of milliseconds between cycles goes over this then there will be an ArLog::log(ArLog::Normal) warning.

Returns:: the number of milliseconds between cycles to warn over, 0 means warning is off

Definition at line 3493 of file ArRobot.cpp.

unsigned int ArRobot::getCycleWarningTime ( void ) const

Gets the number of ms between cycles to warn over.

Sets a time such that if the number of milliseconds between cycles goes over this then there will be an ArLog::log(ArLog::Normal) warning.

Returns:: the number of milliseconds between cycles to warn over, 0 means warning is off

Definition at line 3480 of file ArRobot.cpp.

ArDeviceConnection * ArRobot::getDeviceConnection ( void ) const

Gets the connection this instance uses.

Gets the connection this instance uses to the actual robot. This is where commands will be sent and packets will be received from

Returns:: the deviceConnection used for this robot

See also:

ArDeviceConnection

ArSerialConnection

ArTcpConnection

Definition at line 502 of file ArRobot.cpp.

unsigned int ArRobot::getDirectMotionPrecedenceTime ( void ) const

Gets the length of time a direct motion command will take precedence over actions, in milliseconds

Definition at line 4831 of file ArRobot.cpp.

ArRetFunctor1< double, ArPoseWithTime > * ArRobot::getEncoderCorrectionCallback ( void ) const

Gets the encoderCorrectionCallback.

This gets the encoderCorrectionCB, see setEncoderCorrectionCallback for details.

Returns:: the callback, or NULL if there isn't one

Definition at line 4799 of file ArRobot.cpp.

ArPose ArRobot::getEncoderPose ( void ) const [inline]

Get the position of the robot according to the last robot SIP, possibly with gyro correction if installed and enabled.

See also:: getPose()
getRawEncoderPose()

Definition at line 430 of file ArRobot.h.

int ArRobot::getEncoderPoseInterpPosition	(	ArTime	timeStamp,
		ArPose *	position
	)			`[inline]`

Gets the encoder position the robot was at at the given timestamp.

See also:: ArInterpolation::getPose

Definition at line 778 of file ArRobot.h.

ArTransform ArRobot::getEncoderTransform ( void ) const

Gets the encoder transform.

Returns:: the transform from encoder to global coords

Definition at line 4664 of file ArRobot.cpp.

int ArRobot::getIOAnalog ( int num ) const

Gets the n'th byte from the analog input data from the IO packet.

This gets the raw IO Analog value, which is a number between 0 and 1024 (2^10).

Definition at line 1762 of file ArRobot.cpp.

double ArRobot::getIOAnalogVoltage ( int num ) const

Gets the n'th byte from the analog input data from the IO packet.

This gets the IO Analog value converted to a voltage between 0 and 5 voltes.

Definition at line 1773 of file ArRobot.cpp.

ArTime ArRobot::getLastPacketTime ( void ) const

Gets the time the last packet was received.

This gets the ArTime that the last packet was received at

Returns:: the time the last packet was received

Definition at line 541 of file ArRobot.cpp.

long int ArRobot::getLeftEncoder ( void )

Gets packet data from the left encoder.

Note:: You must first start the encoder packet stream by calling requestEncoderPackets() before this function will return encoder values.

Definition at line 3292 of file ArRobot.cpp.

const ArRobotConfigPacketReader * ArRobot::getOrigRobotConfig ( void ) const

Gets the original robot config packet information.

Returns:: the ArRobotConfigPacketReader taken when this instance got connected to the robot

Definition at line 1811 of file ArRobot.cpp.

ArPose ArRobot::getPose ( void ) const [inline]

Get the current stored global position of the robot. This pose is updated by data reported by the robot as it moves, and may also be changed by other program components, such as a localization process (see moveTo()).

See also:: getEncoderPose()
moveTo()

Definition at line 255 of file ArRobot.h.

int ArRobot::getPoseInterpPosition	(	ArTime	timeStamp,
		ArPose *	position
	)			`[inline]`

Gets the position the robot was at at the given timestamp.

See also:: ArInterpolation::getPose

Definition at line 764 of file ArRobot.h.

std::list< ArRangeDevice * > * ArRobot::getRangeDeviceList ( void )

Gets the range device list.

This gets the list of range devices attached to this robot, do NOT manipulate this list directly. If you want to manipulate use the appropriate addRangeDevice, or remRangeDevice

Returns:: the list of range dvices attached to this robot

Definition at line 4261 of file ArRobot.cpp.

ArPose ArRobot::getRawEncoderPose ( void ) const [inline]

Get the position of the robot according to the last robot SIP only, with no correction by the gyro, other devices or software proceses.

Note:: For the most accurate pose, use getPose() or getEncoderPose(); only use this method if you must have raw encoder pose with no correction.

See also:: getPose()
getEncoderPose()

Definition at line 981 of file ArRobot.h.

double ArRobot::getRealBatteryVoltage ( void ) const [inline]

Gets the real battery voltage of the robot.

This value is averaged over a number of readings, you can get this by calling getRealBatteryVoltageAverageOfNum and set this with setRealBatteryVoltageAverageOfNum... you can call getRealBatteryVoltageNow to get the reading from the last packet.

This is whatever the actual voltage of the robot is, if you want a value normalized to 12 volts use getBatteryVoltage.

If the robot connected to doesn't send the real battery voltage it will just use the normal battery voltage (normalized to 12 volt scale).

Definition at line 327 of file ArRobot.h.

double ArRobot::getRealBatteryVoltageNow ( void ) const [inline]

Gets the instaneous battery voltage.

This is whatever the actual voltage of the robot is, if you want a value normalized to 12 volts use getBatteryVoltage. If the robot doesn't support this number the voltage will be less than 0 and you should use getBatteryVoltageNow.

Definition at line 336 of file ArRobot.h.

long int ArRobot::getRightEncoder ( void )

Gets packet data from the right encoder.

Note:: You must first start the encoder packet stream by calling requestEncoderPackets() before this function will return encoder values.

Definition at line 3300 of file ArRobot.cpp.

const ArRobotParams * ArRobot::getRobotParams ( void ) const

Gets the parameters the robot is using.

Returns:: the ArRobotParams instance the robot is using for its parameters

Definition at line 1802 of file ArRobot.cpp.

double ArRobot::getRotVel ( void ) const [inline]

Gets the rotational velocity of the robot.

Note that with new firmware versions (as of April 2006 or so) this is the velocity reported by the robot. With older firmware this number is come up with by the difference between the wheel velocities multiplied by diffConvFactor from the .p files.

Definition at line 283 of file ArRobot.h.

int ArRobot::getSonarRange ( int num ) const

Gets the range of the last sonar reading for the given sonar.

Parameters:

num

the sonar number to check, should be between 0 and the number of sonar, the function won't fail if a bad number is given, will just return -1

Returns:: -1 if the sonar has never returned a reading, otherwise the sonar range, which is the distance from the physical sonar disc to where the sonar bounced back

See also:: getNumSonar

Definition at line 3989 of file ArRobot.cpp.

ArSensorReading * ArRobot::getSonarReading ( int num ) const

Returns the sonar reading for the given sonar.

Parameters:

num

the sonar number to check, should be between 0 and the number of sonar, the function won't fail if a bad number is given, will just return false

Returns:: NULL if there is no sonar defined for the given number, otherwise it returns a pointer to an instance of the ArSensorReading, note that this class retains ownership, so the instance pointed to should not be deleted and no pointers to it should be stored. Note that often there will be sonar defined but no readings for it (since the readings may be created by the parameter reader), if there has never been a reading from the sonar then the range of that sonar will be -1 and its counterTaken value will be 0

Definition at line 4031 of file ArRobot.cpp.

int ArRobot::getStabilizingTime ( void ) const

How long we stabilize for in ms (0 means no stabilizng).

This is the amount of time the robot will stabilize for after it has connected to the robot (it won't report it is connected until after this time is over).

Definition at line 3535 of file ArRobot.cpp.

int ArRobot::getStateReflectionRefreshTime ( void ) const

Sets the number of milliseconds between state reflection refreshes if the state has not changed

Definition at line 4939 of file ArRobot.cpp.

ArSyncTask * ArRobot::getSyncTaskRoot ( void )

This gets the root of the syncronous task tree, only serious developers should use it

Definition at line 2216 of file ArRobot.cpp.

ArTransform ArRobot::getToGlobalTransform ( void ) const

This gets the transform from local coords to global coords.

Returns:: an ArTransform which can be used for transforming a position in local coordinates to one in global coordinates

Definition at line 4684 of file ArRobot.cpp.

ArTransform ArRobot::getToLocalTransform ( void ) const

This gets the transform for going from global coords to local coords.

Returns:: an ArTransform which can be used for transforming a position in global coordinates to one in local coordinates

Definition at line 4698 of file ArRobot.cpp.

bool ArRobot::handlePacket ( ArRobotPacket * packet )

Internal function, takes a packet and passes it to the packet handlers, returns true if handled, false otherwise

Definition at line 3255 of file ArRobot.cpp.

bool ArRobot::hasRangeDevice ( ArRangeDevice * device ) const

Finds whether a particular range device is attached to this robot or not.

Parameters:

device

the device to check for

Definition at line 4269 of file ArRobot.cpp.

void ArRobot::init ( void )

Internal function, shouldn't be used.

Sets up the packet handlers, sets up the sync list and makes the default priority resolver.

Definition at line 188 of file ArRobot.cpp.

bool ArRobot::isConnected ( void ) const [inline]

Questions whether the robot is connected or not.

Returns:: true if connected to a robot, false if not

Definition at line 121 of file ArRobot.h.

bool ArRobot::isDirectMotion ( void ) const

Returns true if direct motion commands are blocking actions.

Returns the state of direct motion commands: whether actions are allowed or not

See also:: clearDirectMotion

Definition at line 4873 of file ArRobot.cpp.

bool ArRobot::isHeadingDone ( double delta = 0.0 ) const

Sees if the robot is done changing to the previously given setHeading.

Determines if a setHeading() command is finished, to within a small distance. If delta = 0 (default), the delta distance is what was set with setHeadingDoneDiff(), you can get the distnace with getHeadingDoneDiff()

Parameters:

delta

how close to the goal distance the robot must be

Returns:: true if the robot has achieved the heading given in a move command or if the robot is no longer in heading mode mode (because its now running off of actions, setDHeading(), or setRotVel() was called).

Definition at line 1552 of file ArRobot.cpp.

bool ArRobot::isMoveDone ( double delta = 0.0 )

Sees if the robot is done moving the previously given move.

Determines if a move command is finished, to within a small distance threshold, "delta". If delta = 0 (default), the delta distance set with setMoveDoneDist() will be used.

Parameters:

delta

how close to the goal distance the robot must be, or 0 for previously set default

Returns:: true if the robot has finished the distance given in a move command or if the robot is no longer in a move mode (because its now running off of actions, or setVel() or setVel2() was called).

See also:: setMoveDoneDist
getMoveDoneDist

Definition at line 1527 of file ArRobot.cpp.

bool ArRobot::isRunning ( void ) const

Returns whether the robot is currently running or not.

Returns:: true if the robot is currently running in a run or runAsync, otherwise false

Definition at line 224 of file ArRobot.cpp.

bool ArRobot::isSonarNew ( int num ) const

Find out if the given sonar reading was newly refreshed by the last incoming SIP received.

Parameters:

num

the sonar number to check, should be between 0 and the number of sonar, the function won't fail if a bad number is given, will just return false

Returns:: false if the sonar reading is old, or if there was no reading from that sonar, in the current SIP cycle. For best results, use this function in sync with the SIP cycle, for example, from a Sensor Interpretation Task Callback (see addSensorInterpTask).

Definition at line 4009 of file ArRobot.cpp.

bool ArRobot::isTryingToMove ( void ) [inline]

Gets if the robot is trying to move or not.

This is so that if the robot is trying to move, but is prevented (mainly in actions) there'll still be some indication that the robot is trying to move so that things like the sonar aren't turned off because the robot's stopped, note that this flag doesn't have anything to do with if the robot is really moving or not and that you'll still want to check the vels for that

See also:: forceTryingToMove

Definition at line 442 of file ArRobot.h.

bool ArRobot::loadParamFile ( const char * file )

Loads a parameter file (replacing all other params).

Returns:: true if the file could be loaded, false otherwise

Definition at line 1083 of file ArRobot.cpp.

void ArRobot::logAllTasks ( void ) const

Logs the list of all tasks, strictly for your viewing pleasure.

See also:: ArLog

Definition at line 2401 of file ArRobot.cpp.

void ArRobot::logUserTasks ( void ) const

Logs the list of user tasks, strictly for your viewing pleasure.

See also:: ArLog

Definition at line 2385 of file ArRobot.cpp.

void ArRobot::loopOnce ( void )

This function loops once... only serious developers should use it.

This function is only for serious developers, it basically runs the loop once. You would use this function if you were wanting to use robot control in some other monolithic program, so you could work within its framework, rather than trying to get it to work in ARIA.

Definition at line 3586 of file ArRobot.cpp.

void ArRobot::move ( double distance )

Move the given distance forward/backwards.

Tells the robot to begin moving the specified distance forward/backwards. ArRobot caches this value, and sends it during the next cycle (with a MOVE or VEL command, depending on the robot).

Parameters:

distance

the distance for the robot to move (millimeters). Note, due to the implementation of the MOVE command on some robots, it is best to restrict the distance to the range (5000mm, 5000mm] if possible. Not all robots have this restriction, however.

Definition at line 1504 of file ArRobot.cpp.

void ArRobot::moveTo	(	ArPose	poseTo,
		ArPose	poseFrom,
		bool	doCumulative = `true`
	)

Change stored pose (i.e. the value returned by getPose()).

The robot-relative positions of the readings of attached range devices, plus sonar readings stored in this object, will also be updated. This variant allows you to manually specify a pose to use as the robot's old pose when updating range device readings (rather than ArRobot's currently stored pose).

Note:: This simply changes our stored pose value, it does not cause the robot to drive. Use setVel(), setRotVel(), move(), setHeading(), setDeltaHeading(), or the actions system.

Parameters:

	poseTo	the new absolute real world position
	poseFrom	the original absolute real world position
	doCumulative	whether to update the cumulative buffers of range devices

Definition at line 4603 of file ArRobot.cpp.

void ArRobot::moveTo	(	ArPose	pose,
		bool	doCumulative = `true`
	)

Change stored pose (i.e. the value returned by getPose()).

The robot-relative positions of the readings of attached range devices, plus sonar readings stored in this object, will also be updated.

Note:: This simply changes our stored pose value, it does not cause the robot to drive. Use setVel(), setRotVel(), move(), setHeading(), setDeltaHeading(), or the actions system.

Parameters:

	pose	New pose to set (in absolute world coordinates)
	doCumulative	whether to update the cumulative buffers of range devices

Definition at line 4553 of file ArRobot.cpp.

void ArRobot::packetHandler ( void )

Packet Handler, internal.

Reads in all of the packets that are available to read in, then runs through the list of packet handlers and tries to get each packet handled.

See also:: addPacketHandler
remPacketHandler

Definition at line 3330 of file ArRobot.cpp.

void ArRobot::processNewSonar	(	char	number,
		int	range,
		ArTime	timeReceived
	)

Processes a new sonar reading, internal.

This function used to just create more sonar readings if it didn't have the sonar number that was given (only the case if that sonar didn't have an entry in the param file), this caused some silent bugs in other peoples code and so was removed... especially since we don't know where the sonar are at if they weren't in the parameter file anyways.

Definition at line 3903 of file ArRobot.cpp.

bool ArRobot::remAction ( const char * actionName )

Removes an action from the list, by name.

Finds the action with the given name and removes it from the actions... if more than one action has that name it find the one with the lowest priority

Parameters:

actionName

the name of the action we want to find

Returns:: whether remAction found anything with that action to remove or not

See also:

addAction()

remAction(ArAction*)

findAction(const char*)

Definition at line 2516 of file ArRobot.cpp.

bool ArRobot::remAction ( ArAction * action )

Removes an action from the list, by pointer.

Finds the action with the given pointer and removes it from the actions... if more than one action has that pointer it find the one with the lowest priority

Parameters:

action

the action we want to remove

Returns:: whether remAction found anything with that action to remove or not

See also:

addAction

remAction(const char*)

findAction(const char*)

Definition at line 2546 of file ArRobot.cpp.

void ArRobot::remConnectCB ( ArFunctor * functor )

Removes a connect callback.

Parameters:

functor

the functor to remove from the list of connect callbacks

See also:: addConnectCB

Definition at line 1881 of file ArRobot.cpp.

void ArRobot::remDisconnectNormallyCB ( ArFunctor * functor )

Removes a callback for when disconnect is called while connected.

Parameters:

functor

the functor to remove from the list of connect callbacks

See also:: addDisconnectNormallyCB

Definition at line 1948 of file ArRobot.cpp.

void ArRobot::remDisconnectOnErrorCB ( ArFunctor * functor )

Removes a callback for when disconnection happens because of an error.

Parameters:

functor

the functor to remove from the list of connect callbacks

See also:: addDisconnectOnErrorCB

Definition at line 1985 of file ArRobot.cpp.

void ArRobot::remFailedConnectCB ( ArFunctor * functor )

Removes a callback for when a connection to the robot is failed.

Parameters:

functor

the functor to remove from the list of connect callbacks

See also:: addFailedConnectCB

Definition at line 1916 of file ArRobot.cpp.

void ArRobot::remPacketHandler ( ArRetFunctor1< bool, ArRobotPacket * > * functor )

Removes a packet handler from the list of packet handlers.

Parameters:

functor

the functor to remove from the list of packet handlers

See also:: addPacketHandler

Definition at line 1849 of file ArRobot.cpp.

void ArRobot::remRangeDevice ( ArRangeDevice * device )

Remove a range device from the robot's list, by instance.

Parameters:

device

remove the first device with this pointer value

Definition at line 4202 of file ArRobot.cpp.

void ArRobot::remRangeDevice ( const char * name )

Remove a range device from the robot's list, by name.

Parameters:

name

remove the first device with this name

Definition at line 4186 of file ArRobot.cpp.

void ArRobot::remRunExitCB ( ArFunctor * functor )

Removes a callback for when the run loop exits for what ever reason.

Parameters:

functor

The functor to remove from the list of run exit callbacks

See also:: addRunExitCB

Definition at line 2016 of file ArRobot.cpp.

void ArRobot::remSensorInterpTask ( ArFunctor * functor )

Removes a sensor interp tasks by functor.

See also:: addSensorInterpTask
remSensorInterpTask(std::string name)

Definition at line 2360 of file ArRobot.cpp.

void ArRobot::remSensorInterpTask ( const char * name )

Removes a sensor interp tasks by name.

See also:: addSensorInterpTask
remSensorInterpTask(ArFunctor *functor)

Definition at line 2335 of file ArRobot.cpp.

void ArRobot::remStabilizingCB ( ArFunctor * functor )

Removes stabilizing callback.

Parameters:

functor

the functor to remove from the list of stabilizing callbacks

See also:: addConnectCB

Definition at line 2049 of file ArRobot.cpp.

void ArRobot::remUserTask ( ArFunctor * functor )

Removes a user task from the list of synchronous taskes by functor.

See also:: addUserTask
remUserTask(std::string name)

Definition at line 2282 of file ArRobot.cpp.

void ArRobot::remUserTask ( const char * name )

Removes a user task from the list of synchronous taskes by name.

See also:: addUserTask
remUserTask(ArFunctor *functor)

Definition at line 2257 of file ArRobot.cpp.

void ArRobot::requestEncoderPackets ( void )

Starts a continuous stream of encoder packets.

Encoder packet data may then be from getLeftEncoder(), getRightEncoder().

Encoder packets may be stopped with stopEncoderPackets().

Definition at line 1286 of file ArRobot.cpp.

void ArRobot::run ( bool stopRunIfNotConnected )

Starts the instance to do processing in this thread.

This starts the list of tasks to be run through until stopped. This function doesn't return until something calls stop on this instance.

Parameters:

stopRunIfNotConnected

if true, the run will return if there is no connection to the robot at any given point, this is good for one-shot programs... if it is false the run won't return unless stop is called on the instance

Examples:: actionExample.cpp, actionGroupExample.cpp, actsColorFollowingExample.cpp, auxSerialExample.cpp, dpptuExample.cpp, gripperExample.cpp, gyroExample.cpp, joydriveActionExample.cpp, robotSyncTaskExample.cpp, sonyPTZDemo.cpp, teleopActionsExample.cpp, vcc4CameraExample.cpp, and wander.cpp.

Definition at line 206 of file ArRobot.cpp.

void ArRobot::runAsync ( bool stopRunIfNotConnected )

Starts the instance to do processing in its own new thread.

This starts a new thread then has runs through the tasks until stopped. This function doesn't return until something calls stop on this instance. This function returns immediately

Parameters:

stopRunIfNotConnected

if true, the run will stop if there is no connection to the robot at any given point, this is good for one-shot programs... if it is false the run won't stop unless stop is called on the instance

Examples:: armExample.cpp, demo.cpp, gotoActionExample.cpp, lineFinderExample.cpp, robotConnectionCallbacks.cpp, simpleConnect.cpp, and triangleDriveToActionExample.cpp.

Definition at line 238 of file ArRobot.cpp.

bool ArRobot::setAbsoluteMaxRotAccel ( double maxAccel )

Sets the robot's absolute maximum rotational acceleration.

This sets the absolute maximum rotational acceleration the robot will do... the acceleration can also be set by the actions and by setRotAccel, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setRotAccel.

Parameters:

maxAccel

the maximum acceleration to be set, it must be a non-zero number

Returns:: true if the value is good, false othrewise

Definition at line 1725 of file ArRobot.cpp.

bool ArRobot::setAbsoluteMaxRotDecel ( double maxDecel )

Sets the robot's absolute maximum rotational deceleration.

This sets the absolute maximum rotational deceleration the robot will do... the deceleration can also be set by the actions and by setRotDecel, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setRotDecel.

Parameters:

maxDecel

the maximum deceleration to be set, it must be a non-zero number

Returns:: true if the value is good, false othrewise

Definition at line 1748 of file ArRobot.cpp.

bool ArRobot::setAbsoluteMaxRotVel ( double maxVel )

Sets the robot's absolute maximum rotational velocity.

This sets the absolute maximum velocity the robot will go... the maximum velocity can also be set by the actions and by setRotVelMax, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setRotVelMax.

Parameters:

maxVel

the maximum velocity to be set, it must be a non-zero number

Returns:: true if the value is good, false othrewise

Definition at line 1702 of file ArRobot.cpp.

bool ArRobot::setAbsoluteMaxTransAccel ( double maxAccel )

Sets the robot's absolute maximum translational acceleration.

This sets the absolute maximum translational acceleration the robot will do... the acceleration can also be set by the actions and by setTransAccel, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setTransAccel.

Parameters:

maxAccel

the maximum acceleration to be set, it must be a non-zero number

Returns:: true if the value is good, false othrewise

Definition at line 1658 of file ArRobot.cpp.

bool ArRobot::setAbsoluteMaxTransDecel ( double maxDecel )

Sets the robot's absolute maximum translational deceleration.

This sets the absolute maximum translational deceleration the robot will do... the deceleration can also be set by the actions and by setTransDecel, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setTransDecel.

Parameters:

maxDecel

the maximum deceleration to be set, it must be a non-zero number

Returns:: true if the value is good, false othrewise

Definition at line 1681 of file ArRobot.cpp.

bool ArRobot::setAbsoluteMaxTransVel ( double maxVel )

Sets the robot's absolute maximum translational velocity.

This sets the absolute maximum velocity the robot will go... the maximum velocity can also be set by the actions and by setTransVelMax, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setTransVelMax.

Parameters:

maxVel

the maximum velocity to be set, it must be a non-zero number

Returns:: true if the value is good, false othrewise

Examples:: actsColorFollowingExample.cpp, and teleopActionsExample.cpp.

Definition at line 1635 of file ArRobot.cpp.

void ArRobot::setConnectionCycleMultiplier ( unsigned int multiplier )

Sets the multiplier for how many cycles ArRobot waits when connecting.

Parameters:

multiplier

when the ArRobot is waiting for a connection packet back from a robot, it waits for this multiplier times the cycle time for the packet to come back before it gives up on it... This should be small for normal connections but if doing something over a slow network then you may want to make it larger

Definition at line 3562 of file ArRobot.cpp.

void ArRobot::setConnectionTimeoutTime ( int mSecs )

Sets the time without a response until connection assumed lost.

Sets the number of milliseconds to go without a response from the robot until it is assumed that the connection with the robot has been broken and the disconnect on error events will happen. Note that this will only happen with the default packet handler.

Parameters:

mSecs

if seconds is 0 then the connection timeout feature will be disabled, otherwise disconnect on error will be triggered after this number of seconds...

Definition at line 517 of file ArRobot.cpp.

void ArRobot::setCycleTime ( unsigned int ms )

Sets the number of ms between cycles.

Sets the number of milliseconds between cycles, at each cycle is when all packets are processed, all sensors are interpretted, all actions are called, and all user tasks are serviced. Be warned, if you set this too small you could overflow your serial connection.

Parameters:

the number of milliseconds between cycles

Definition at line 3505 of file ArRobot.cpp.

void ArRobot::setCycleWarningTime ( unsigned int ms )

Sets the number of ms between cycles to warn over.

Sets a time such that if the number of milliseconds between cycles goes over this then there will be an ArLog::log(ArLog::Normal) warning.

Parameters:

the number of milliseconds between cycles to warn over, 0 turns warning off

Definition at line 3466 of file ArRobot.cpp.

void ArRobot::setDeadReconPose ( ArPose pose )

Sets the dead recon position of the robot.

Parameters:

pose

the position to set the dead recon position to

Definition at line 4672 of file ArRobot.cpp.

void ArRobot::setDeltaHeading ( double deltaHeading )

Sets the delta heading.

Sets a delta heading to the robot, it caches this value, and sends it during the next cycle.

Parameters:

deltaHeading

the desired amount to change the heading of the robot by

Definition at line 1609 of file ArRobot.cpp.

void ArRobot::setDeviceConnection ( ArDeviceConnection * connection )

Sets the connection this instance uses.

Sets the connection this instance uses to the actual robot. This is where commands will be sent and packets will be received from

Parameters:

connection

The deviceConnection to use for this robot

See also:: ArDeviceConnection, ArSerialConnection, ArTcpConnection

Examples:: sonyPTZDemo.cpp, and vcc4CameraExample.cpp.

Definition at line 487 of file ArRobot.cpp.

void ArRobot::setDirectMotionPrecedenceTime ( int mSec )

Sets the length of time a direct motion command will take precedence over actions, in milliseconds

Definition at line 4814 of file ArRobot.cpp.

void ArRobot::setEncoderCorrectionCallback ( ArRetFunctor1< double, ArPoseWithTime > * functor )

Sets the encoderCorrectionCallback.

This sets the encoderCorrectionCB, this callback returns the robots change in heading, it takes in the change in heading, x, and y, between the previous and current readings.

Parameters:

functor

an ArRetFunctor1 created as an ArRetFunctor1C, that will be the callback... call this function NULL to clear the callback

See also:: getEncoderCorrectionCallback

Definition at line 4787 of file ArRobot.cpp.

void ArRobot::setEncoderTransform ( ArPose transformPos )

Changes the transform directly.

Parameters:

transformPos

the position to transform to

Definition at line 4655 of file ArRobot.cpp.

void ArRobot::setEncoderTransform	(	ArPose	deadReconPos,
		ArPose	globalPos
	)

Changes the transform.

Parameters:

	deadReconPos	the dead recon position to transform from
	globalPos	the real world global position to transform to

Definition at line 4645 of file ArRobot.cpp.

void ArRobot::setHeading ( double heading )

Sets the heading.

Sets the heading of the robot, it caches this value, and sends it during the next cycle.

Parameters:

heading

the desired heading of the robot (degrees)

Examples:: gyroExample.cpp.

Definition at line 1571 of file ArRobot.cpp.

void ArRobot::setRotVel ( double velocity )

Sets the rotational velocity.

Sets the rotational velocity of the robot, it caches this value, and sends it during the next cycle.

Parameters:

velocity

the desired rotational velocity of the robot (deg/sec)

Examples:: gyroExample.cpp.

Definition at line 1590 of file ArRobot.cpp.

void ArRobot::setStabilizingTime ( int mSecs )

How long we should stabilize for in ms (0 disables stabilizing).

This is the amount of time the robot will stabilize for after it has connected to the robot (it won't report it is connected until after this time is over). By convention you should never set this lower than what you find the value at (though it will let you) this is so that everything can get itself stabilized before we let things drive.

Parameters:

mSecs

the amount of time to stabilize for (0 disables)

See also:: addStabilizingCB

Definition at line 3522 of file ArRobot.cpp.

void ArRobot::setStateReflectionRefreshTime ( int msec )

Sets the number of milliseconds between state reflection refreshes if the state has not changed

Definition at line 4924 of file ArRobot.cpp.

void ArRobot::setVel ( double velocity )

Sets the velocity

See also:: clearDirectMotion

Definition at line 1462 of file ArRobot.cpp.

void ArRobot::setVel2	(	double	leftVelocity,
		double	rightVelocity
	)

Sets the velocity of the wheels independently.

Sets the velocity of each of the wheels on the robot independently. ArRobot caches these values, and sends them with a VEL2 command during the next cycle. Note that this cancels both translational velocity AND rotational velocity, and is canceled by any of the other direct motion commands.

See also:

setVel

setRotVel

clearDirectMotion

Parameters:

	leftVelocity	the desired velocity of the left wheel
	rightVelocity	the desired velocity of the right wheel

Definition at line 1484 of file ArRobot.cpp.

void ArRobot::stop ( void )

Stops the robot

See also:: clearDirectMotion

Examples:: gyroExample.cpp.

Definition at line 1445 of file ArRobot.cpp.

void ArRobot::stopRunning ( bool doDisconnect = true )

Stops the robot from doing any more processing.

This stops this robot's processing cycle. If it is running in a background thread (from runAsync()), it will cause that thread to exit. If it is running synchronously (from run()), then run() will return.

Parameters:

doDisconnect

If true, also disconnect from the robot connection (default is true).

See also:: isRunning

Examples:: robotConnectionCallbacks.cpp, and simpleConnect.cpp.

Definition at line 260 of file ArRobot.cpp.

void ArRobot::stopStateReflection ( void )

Sets the state reflection to be inactive (until motion or clearDirectMotion)

See also:: clearDirectMotion

Definition at line 4861 of file ArRobot.cpp.

ArRobot::WaitState ArRobot::waitForConnect ( unsigned int msecs = 0 )

Suspend calling thread until the ArRobot is connected.

This will suspend the calling thread until the ArRobot's run loop has managed to connect with the robot. There is an optional paramater of milliseconds to wait for the ArRobot to connect. If msecs is set to 0, it will wait until the ArRobot connects. This function will never return if the robot can not be connected with. If you want to be able to handle that case within the calling thread, you must call waitForConnectOrConnFail().

Parameters:

msecs

milliseconds in which to wait for the ArRobot to connect

Returns:: WAIT_CONNECTED for success

See also:

waitForConnectOrConnFail

wakeAllWaitingThreads

wakeAllConnWaitingThreads

wakeAllRunExitWaitingThreads

Definition at line 2075 of file ArRobot.cpp.

ArRobot::WaitState ArRobot::waitForConnectOrConnFail ( unsigned int msecs = 0 )

Suspend calling thread until the ArRobot is connected or fails to connect.

This will suspend the calling thread until the ArRobot's run loop has managed to connect with the robot or fails to connect with the robot. There is an optional paramater of milliseconds to wait for the ArRobot to connect. If msecs is set to 0, it will wait until the ArRobot connects.

Parameters:

msecs

milliseconds in which to wait for the ArRobot to connect

Returns:: WAIT_CONNECTED for success

See also:: waitForConnect

Definition at line 2107 of file ArRobot.cpp.

ArRobot::WaitState ArRobot::waitForRunExit ( unsigned int msecs = 0 )

Suspend calling thread until the ArRobot run loop has exited.

This will suspend the calling thread until the ArRobot's run loop has exited. There is an optional paramater of milliseconds to wait for the ArRobot run loop to exit . If msecs is set to 0, it will wait until the ArRrobot run loop exits.

Parameters:

msecs

milliseconds in which to wait for the robot to connect

Returns:: WAIT_RUN_EXIT for success

Examples:: demo.cpp, lineFinderExample.cpp, and triangleDriveToActionExample.cpp.

Definition at line 2142 of file ArRobot.cpp.

void ArRobot::wakeAllConnOrFailWaitingThreads ( )

Wake up all threads waiting for connection or connection failure.

This will wake all the threads waiting for the robot to be connected or waiting for the robot to fail to connect.

See also:: wakeAllWaitingThreads
wakeAllRunExitWaitingThreads

Definition at line 2194 of file ArRobot.cpp.

void ArRobot::wakeAllConnWaitingThreads ( )

Wake up all threads waiting for connection.

This will wake all the threads waiting for the robot to be connected.

See also:: wakeAllWaitingThreads
wakeAllRunExitWaitingThreads

Definition at line 2182 of file ArRobot.cpp.

void ArRobot::wakeAllRunExitWaitingThreads ( )

Wake up all threads waiting for the run loop to exit.

This will wake all the threads waiting for the run loop to exit.

See also:: wakeAllWaitingThreads
wakeAllConnWaitingThreads

Definition at line 2204 of file ArRobot.cpp.

void ArRobot::wakeAllWaitingThreads ( )

Wake up all threads waiting on this robot.

This will wake all the threads waiting for various major state changes in this particular ArRobot. This includes all threads waiting for the robot to be connected and all threads waiting for the run loop to exit.

See also:: wakeAllConnWaitingThreads
wakeAllRunExitWaitingThreads

Definition at line 2171 of file ArRobot.cpp.

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

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