ARGoS  3
A parallel, multi-engine simulator for swarm robotics
argos::CCI_FootBotDistanceScannerSensor Class Reference

#include <ci_footbot_distance_scanner_sensor.h>

+ Inheritance diagram for argos::CCI_FootBotDistanceScannerSensor:

List of all members.

Classes

struct  SReading
 The DTO of the distance scanner, it contains the measured distance and its angle. More...

Public Types

typedef std::vector< SReadingTReadings
typedef std::vector< TReadingsTLastReadings
typedef std::pair< CRadians, RealTMapPair
typedef std::map< CRadians, RealTReadingsMap

Public Member Functions

 CCI_FootBotDistanceScannerSensor ()
 Constructor.
virtual ~CCI_FootBotDistanceScannerSensor ()
 Destructor.
const TReadingsMapGetReadingsMap ()
 Return a map of the readings of the ds A map of the readings of the ds in the following format: angle - value.
const TReadingsMapGetShortReadingsMap ()
 Return a map of the readings of the ds, short sensor readings A map of the readings of the ds short sensor readings in the following format: angle - value.
const TReadingsMapGetLongReadingsMap ()
 Return a map of the readings of the ds, long sensor readings A map of the readings of the ds long sensor readings in the following format: angle - value.

Protected Attributes

TReadings m_tReadings
 A vector of sReadings.
TLastReadings m_tLastReadings
 Vector storing the last received packets.
TReadingsMap m_tReadingsMap
 Map storing all the last received packets.
TReadingsMap m_tShortReadingsMap
 Map storing the last received packets from the short distance sensors.
TReadingsMap m_tLongReadingsMap
 Map storing the last received packets from the long distance sensors.

Detailed Description

Definition at line 65 of file ci_footbot_distance_scanner_sensor.h.


Member Typedef Documentation


Constructor & Destructor Documentation


Member Function Documentation

Return a map of the readings of the ds, long sensor readings A map of the readings of the ds long sensor readings in the following format: angle - value.

The value is the distance wrt to a perceived obstacle. If the value is -1 it means that the sensor is saturated (the obstacle is too close, i.e. < 20cm from the robot border) If the value is -2 it means that the sensor is empy (obstacle too far / no obstacle, i.e. > 150cm from the robot border)

Definition at line 150 of file ci_footbot_distance_scanner_sensor.h.

Return a map of the readings of the ds A map of the readings of the ds in the following format: angle - value.

The value is the distance wrt to a perceived obstacle. If the value is -1 it means that the sensor is saturated (the obstacle is too close) If the value is -2 it means that the sensor is empy (obstacle too far / no obstacle) The "too far / too close" have different meanings for the short sensors and long sensors. This map stores both long and short sensor readings. It is suggested to use the short/long maps instead.

Definition at line 120 of file ci_footbot_distance_scanner_sensor.h.

Return a map of the readings of the ds, short sensor readings A map of the readings of the ds short sensor readings in the following format: angle - value.

The value is the distance wrt to a perceived obstacle. If the value is -1 it means that the sensor is saturated (the obstacle is too close, i.e. < 4cm from the robot border) If the value is -2 it means that the sensor is empy (obstacle too far / no obstacle, i.e. > 30cm from the robot border)

Definition at line 135 of file ci_footbot_distance_scanner_sensor.h.


Member Data Documentation

Vector storing the last received packets.

Definition at line 166 of file ci_footbot_distance_scanner_sensor.h.

Map storing the last received packets from the long distance sensors.

Definition at line 175 of file ci_footbot_distance_scanner_sensor.h.

A vector of sReadings.

Definition at line 163 of file ci_footbot_distance_scanner_sensor.h.

Map storing all the last received packets.

Definition at line 169 of file ci_footbot_distance_scanner_sensor.h.

Map storing the last received packets from the short distance sensors.

Definition at line 172 of file ci_footbot_distance_scanner_sensor.h.


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