This is a class containing all roboshape information. More...

#include <>>

Inheritance diagram for fawkes::RoboShape:

Public Member Functions
	RoboShape (const char cfg_prefix, fawkes::Logger logger, fawkes::Configuration *config)
	Constructor. More...

	~RoboShape ()
	Desctructor. More...

bool	is_round_robot ()
	Returns if the robot is round. More...

bool	is_angular_robot ()
	Returns if the robot is angular. More...

bool	is_robot_reading_for_rad (float anglerad, float length)
	Check if the reading is 'in' the robot. More...

bool	is_robot_reading_for_deg (float angledeg, float length)
	Check if the reading is 'in' the robot. More...

float	get_robot_length_for_rad (float anglerad)
	return the length of the robot for a specific angle More...

float	get_robot_length_for_deg (float angledeg)
	return the length of the robot for a specific angle More...

float	get_radius ()
	Returns the radius of the robot if its round. More...

float	get_complete_radius ()
	Returns the maximum radius of the robot if its round. More...

float	get_width_x ()
	Returns the width-x of the angular robot. More...

float	get_width_y ()
	Returns the width-y of the angular robot. More...

float	get_complete_width_x ()
	Returns the complete x width of the angular robot. More...

float	get_complete_width_y ()
	Returns the complete x width of the angular robot. More...

float	get_laser_offset_x ()
	Returns the laser offset in x direction of the robot. More...

float	get_laser_offset_y ()
	Returns the laser offset in y direction of the robot. More...

float	get_angle_front_left () const
	Get angle to the front left corner of the robot. More...

float	get_angle_front_right () const
	Get angle to the front right corner of the robot. More...

float	get_angle_back_left () const
	Get angle to of the rear left corner robot. More...

float	get_angle_back_right () const
	Get angle to of the rear right corner robot. More...

float	get_angle_left () const
	Get angle to middle of the left side of the robot. More...

float	get_angle_right () const
	Get angle to middle of the right side of the robot. More...

float	get_angle_front () const
	Get angle to middle of the front side of the robot. More...

float	get_angle_back () const
	Get angle to middle of the back side of the robot. More...

Detailed Description

This is a class containing all roboshape information.

All methods have been implemented but round robots.

Definition at line 31 of file roboshape.h.

Constructor & Destructor Documentation

◆ RoboShape()

fawkes::RoboShape::RoboShape	(	const char *	cfg_prefix,
		fawkes::Logger *	logger,
		fawkes::Configuration *	config
	)

Constructor.

Parameters

cfg_prefix	The prefix of the config node, where the roboshape values are found
logger	Pointer to the fawkes logger
config	Pointer to the fawkes configuration.

Definition at line 46 of file roboshape.cpp.

References fawkes::Configuration::get_float(), fawkes::Configuration::get_int(), fawkes::Logger::log_info(), and fawkes::normalize_mirror_rad().

◆ ~RoboShape()

fawkes::RoboShape::~RoboShape ( )

Desctructor.

Definition at line 133 of file roboshape.cpp.

Member Function Documentation

◆ get_angle_back()

float fawkes::RoboShape::get_angle_back ( ) const

Get angle to middle of the back side of the robot.

Get angle to middle of the rear side of the robot.

Returns: angle in radians

Definition at line 244 of file roboshape.cpp.

◆ get_angle_back_left()

float fawkes::RoboShape::get_angle_back_left ( ) const

Get angle to of the rear left corner robot.

Get angle to the rear left corner of the robot.

Returns: angle in radians

Definition at line 199 of file roboshape.cpp.

◆ get_angle_back_right()

float fawkes::RoboShape::get_angle_back_right ( ) const

Get angle to of the rear right corner robot.

Get angle to the rear right corner of the robot.

Returns: angle in radians

Definition at line 208 of file roboshape.cpp.

◆ get_angle_front()

float fawkes::RoboShape::get_angle_front ( ) const

Get angle to middle of the front side of the robot.

Returns: angle in radians

Definition at line 235 of file roboshape.cpp.

◆ get_angle_front_left()

float fawkes::RoboShape::get_angle_front_left ( ) const

Get angle to the front left corner of the robot.

Returns: angle in radians

Definition at line 181 of file roboshape.cpp.

◆ get_angle_front_right()

float fawkes::RoboShape::get_angle_front_right ( ) const

Get angle to the front right corner of the robot.

Returns: angle in radians

Definition at line 190 of file roboshape.cpp.

◆ get_angle_left()

float fawkes::RoboShape::get_angle_left ( ) const

Get angle to middle of the left side of the robot.

Returns: angle in radians

Definition at line 217 of file roboshape.cpp.

◆ get_angle_right()

float fawkes::RoboShape::get_angle_right ( ) const

Get angle to middle of the right side of the robot.

Returns: angle in radians

Definition at line 226 of file roboshape.cpp.

◆ get_complete_radius()

float fawkes::RoboShape::get_complete_radius ( )

Returns the maximum radius of the robot if its round.

Returns: maximum radius of the round robot

Definition at line 338 of file roboshape.cpp.

References is_round_robot(), and fawkes::Logger::log_error().

Referenced by get_complete_width_x(), get_complete_width_y(), and get_robot_length_for_rad().

◆ get_complete_width_x()

float fawkes::RoboShape::get_complete_width_x ( )

Returns the complete x width of the angular robot.

Returns: the complete x width.

Definition at line 381 of file roboshape.cpp.

References get_complete_radius(), and is_angular_robot().

◆ get_complete_width_y()

float fawkes::RoboShape::get_complete_width_y ( )

Returns the complete x width of the angular robot.

Returns the complete y width of the angular robot.

Returns: the complete y width.

Definition at line 395 of file roboshape.cpp.

References get_complete_radius(), and is_angular_robot().

◆ get_laser_offset_x()

float fawkes::RoboShape::get_laser_offset_x ( )

Returns the laser offset in x direction of the robot.

Returns: the laser offset in x direction.

Definition at line 409 of file roboshape.cpp.

◆ get_laser_offset_y()

float fawkes::RoboShape::get_laser_offset_y ( )

Returns the laser offset in y direction of the robot.

Returns: the laser offset in y direction.

Definition at line 418 of file roboshape.cpp.

◆ get_radius()

float fawkes::RoboShape::get_radius ( )

Returns the radius of the robot if its round.

Returns: radius of the round robot

Definition at line 324 of file roboshape.cpp.

References is_round_robot(), and fawkes::Logger::log_error().

◆ get_robot_length_for_deg()

float fawkes::RoboShape::get_robot_length_for_deg ( float angledeg )

return the length of the robot for a specific angle

Returns the robots length for a specific angle.

Parameters

angledeg is the angle in degree.

Returns: the length in this direction.

Definition at line 315 of file roboshape.cpp.

References fawkes::deg2rad(), and get_robot_length_for_rad().

◆ get_robot_length_for_rad()

float fawkes::RoboShape::get_robot_length_for_rad ( float anglerad )

return the length of the robot for a specific angle

Returns the robots length for a specific angle.

Parameters

anglerad is the angle in radians.

Returns: the length in this direction.

Definition at line 254 of file roboshape.cpp.

References get_complete_radius(), is_angular_robot(), is_round_robot(), and fawkes::normalize_mirror_rad().

Referenced by get_robot_length_for_deg(), is_robot_reading_for_rad(), and fawkes::RoboShapeColli::RoboShapeColli().

◆ get_width_x()

float fawkes::RoboShape::get_width_x ( )

Returns the width-x of the angular robot.

Returns: only the robot x width.

Definition at line 353 of file roboshape.cpp.

References is_angular_robot(), and fawkes::Logger::log_error().

◆ get_width_y()

float fawkes::RoboShape::get_width_y ( )

Returns the width-y of the angular robot.

Returns: only the robot y width.

Definition at line 367 of file roboshape.cpp.

References is_angular_robot(), and fawkes::Logger::log_error().

◆ is_angular_robot()

bool fawkes::RoboShape::is_angular_robot ( )

Returns if the robot is angular.

Returns: bool indicating if the robot is angular.

Definition at line 150 of file roboshape.cpp.

Referenced by get_complete_width_x(), get_complete_width_y(), get_robot_length_for_rad(), get_width_x(), and get_width_y().

◆ is_robot_reading_for_deg()

bool fawkes::RoboShape::is_robot_reading_for_deg	(	float	angledeg,
		float	length
	)

Check if the reading is 'in' the robot.

Returns, if a reading length is in the robot.

Parameters

angledeg	is float containing the angle of the reading in degree.
length	containing the length of the reading.

Returns: if the reading is in the robot.

Definition at line 172 of file roboshape.cpp.

References fawkes::deg2rad(), and is_robot_reading_for_rad().

◆ is_robot_reading_for_rad()

bool fawkes::RoboShape::is_robot_reading_for_rad	(	float	anglerad,
		float	length
	)

Check if the reading is 'in' the robot.

Returns, if a reading length is in the robot.

Parameters

anglerad	is float containing the angle of the reading in radians.
length	containing the length of the reading.

Returns: if the reading is in the robot.

Definition at line 161 of file roboshape.cpp.

References get_robot_length_for_rad().

Referenced by is_robot_reading_for_deg().

◆ is_round_robot()

bool fawkes::RoboShape::is_round_robot ( )

Returns if the robot is round.

Returns: bool indicating if the robot is round.

Definition at line 141 of file roboshape.cpp.

Referenced by get_complete_radius(), get_radius(), and get_robot_length_for_rad().

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

src/plugins/colli/utils/rob/roboshape.h
src/plugins/colli/utils/rob/roboshape.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RoboShape()

◆ ~RoboShape()

Member Function Documentation

◆ get_angle_back()

◆ get_angle_back_left()

◆ get_angle_back_right()

◆ get_angle_front()

◆ get_angle_front_left()

◆ get_angle_front_right()

◆ get_angle_left()

◆ get_angle_right()

◆ get_complete_radius()

◆ get_complete_width_x()

◆ get_complete_width_y()

◆ get_laser_offset_x()

◆ get_laser_offset_y()

◆ get_radius()

◆ get_robot_length_for_deg()

◆ get_robot_length_for_rad()

◆ get_width_x()

◆ get_width_y()

◆ is_angular_robot()

◆ is_robot_reading_for_deg()

◆ is_robot_reading_for_rad()

◆ is_round_robot()