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:

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. More...
IRData	GetIRData () const
	Read the IR sensors. More...
std::vector< EpuckInterface::Triple >	GetGeometry () const
	Give the geometry of each IR sensor in e-puck. More...

Static Public Attributes
static const unsigned	SENSOR_QUANTITY = 8
	The number of IR sensors on e-puck.

Private Attributes
std::vector< EpuckInterface::Triple >	geometry

Additional Inherited Members
Protected Types inherited from EpuckInterface
enum	Request {   CONFIG_CAMERA = 0x02, SET_VEL = 0x13, GET_STEPS = 0x14, STOP_MOTORS = 0x15,   GET_IR_PROX = 0x16, GET_CAMERA_IMG = 0x17, SET_LED_POWER = 0x18 }
	Request codes acceptable by e-puck. More...
Protected Member Functions inherited from EpuckInterface
	EpuckInterface (const SerialPort *const serialPort)
	The EpuckInterface class constructor. More...
void	SendRequest (Request request) const
Protected Attributes inherited from EpuckInterface
const SerialPort *const	serialPort
	A SerialPort class instance shared among the device interfaces. More...
Static Protected Attributes inherited from EpuckInterface
static const float	EPUCK_DIAMETER = 0.07
	Diameter of e-puck body [m].

Constructor & Destructor Documentation

EpuckIR()

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

GetGeometry()

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.

GetIRData()

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.

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

• epuckIR.hpp
• epuckIR.cpp