EpuckIR Class Reference

Class for to get data from e-puck IR sensors. More...

#include <epuckIR.hpp>

Inheritance diagram for EpuckIR:

Collaboration diagram for EpuckIR:

List of all members.

---

Detailed Description

Class for to get data from e-puck IR sensors.

Author:

Renato Florentino Garcia.

Date:

August 2008

Classes
struct	IRData
	Represents the data got from e-puck IR sensors. More...
Public Member Functions
	EpuckIR (const SerialPort *const serialPort)
	The EpuckIR class constructor.
IRData	GetIRData () const
	Read the IR sensors.
std::vector < EpuckInterface::Triple >	GetGeometry () const
	Give the geometry of each IR sensor in e-puck.
Static Public Attributes
static const unsigned	SENSOR_QUANTITY = 8
	The number of IR sensors on e-puck.
Private Attributes
std::vector < EpuckInterface::Triple >	geometry

---

Constructor & Destructor Documentation

EpuckIR::EpuckIR

(

const SerialPort *const

serialPort

)

The EpuckIR class constructor.

Parameters:

serialPort

Pointer for a SerialPort class already created and connected with an e-puck.

References EpuckInterface::Triple::theta, EpuckInterface::Triple::x, and EpuckInterface::Triple::y.

---

Member Function Documentation

std::vector<EpuckInterface::Triple> EpuckIR::GetGeometry

(

)

const [inline]

Give the geometry of each IR sensor in e-puck.

Returns:

A std::vector with the sensors geometry.

EpuckIR::IRData EpuckIR::GetIRData

(

)

const

Read the IR sensors.

Read the values of IR sensor from e-puck, and translate it for distance in meters.

Returns:

A IRData struct with the read values.

References EpuckInterface::GET_IR_PROX, EpuckIR::IRData::ranges, SerialPort::recvInt(), SENSOR_QUANTITY, EpuckInterface::serialPort, and EpuckIR::IRData::voltages.

Here is the call graph for this function:

---

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

• epuckIR.hpp
• epuckIR.cpp