ArRobot Class Reference

Central class for communicating with and operating the robot. More...

#include <ArRobot.h>

Public Types
enum	ChargeState {   CHARGING_UNKNOWN = -1, CHARGING_NOT = 0, CHARGING_BULK = 1, CHARGING_OVERCHARGE = 2,   CHARGING_FLOAT = 3, CHARGING_BALANCE = 4 }
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. More...
bool	addAction (ArAction *action, int priority)
	Adds an action to the list with the given priority. More...
bool	addBattery (ArBatteryMTX *battery, int batteryNumber)
	Adds a battery to the robot's map of them. More...
void	addConnectCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a connect callback. More...
void	addDisconnectNormallyCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback for when disconnect is called while connected. More...
void	addDisconnectOnErrorCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback for when disconnection happens because of an error. More...
void	addFailedConnectCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback for when a connection to the robot is failed. More...
bool	addLaser (ArLaser *laser, int laserNumber, bool addAsRangeDevice=true)
	Adds a laser to the robot's map of them. More...
bool	addLCD (ArLCDMTX *lcd, int lcdNumber)
	Adds a lcd to the robot's map of them. More...
void	addPacketHandler (ArRetFunctor1< bool, ArRobotPacket *> *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a packet handler to the list of packet handlers. More...
void	addRangeDevice (ArRangeDevice *device)
	Adds a rangeDevice to the robot's list of them, and set the ArRangeDevice object's robot pointer to this ArRobot object. More...
void	addRunExitCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback for when the run loop exits for what ever reason. More...
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. More...
void	addSetEncoderTransformCB (ArFunctor *functor, int position=50)
	Adds a callback for when the encoder transform is changed.
bool	addSonar (ArSonarMTX *sonar, int sonarNumber)
	Adds a sonar to the robot's map of them. More...
void	addStabilizingCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback called when the robot starts stabilizing before declaring connection. More...
bool	addUserTask (const char *name, int position, ArFunctor *functor, ArTaskState::State *state=NULL)
	Adds a user task to the list of synchronous taskes. More...
int	applyEncoderOffset (ArPoseWithTime from, ArTime to, ArPose *result)
	Applies the encoder motion from the passed in ArPoseWithTime to the passed in ArTime. More...
void	applyTransform (ArTransform trans, bool doCumulative=true)
	This applies a transform to all the robot range devices and to the sonar. More...
bool	areAutonomousDrivingSonarsEnabled (void) const
	returns true if the sonars are enabled for autonomous driving
bool	areMotorsEnabled (void) const
	returns true if the motors are enabled
bool	areSonarsEnabled (void) const
	returns true if the sonars are enabled More...
bool	areSonarsEnabledLegacy (void) const
	returns true if the sonars are enabled on legacy platforms (by checking the low level stuff)
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. More...
bool	asyncConnect (void)
	Connects to a robot, from the robots own thread. More...
int	asyncConnectHandler (bool tryHarderToConnect)
	This is an internal function that is used both for async connects and blocking connects use to connect. More...
void	attachKeyHandler (ArKeyHandler *keyHandler, bool exitOnEscape=true, bool useExitNotShutdown=true)
	Attachs a key handler. More...
bool	blockingConnect (void)
	Connects to a robot, not returning until connection made or failed. More...
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
	Gets the closest reading in a region defined by the two points of a rectangle. More...
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. More...
double	checkRangeDevicesCurrentBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL, const ArRangeDevice **rangeDevice=NULL, bool useLocationDependentDevices=true) const
	Gets the closest reading in a region defined by the two points of a rectangle. More...
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. More...
void	clearDirectMotion (void)
	Clears what direct motion commands have been given, so actions work. More...
bool	com (unsigned char command)
	Sends a command to the robot with no arguments. More...
bool	com2Bytes (unsigned char command, char high, char low)
	Sends a command to the robot with two bytes for argument. More...
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. More...
bool	comStr (unsigned char command, const char *argument)
	Sends a command to the robot with a length-prefixed string for argument. More...
bool	comStrN (unsigned char command, const char *str, int size)
	Sends a command to the robot with a length-prefixed string for argument. More...
void	deactivateActions (void)
	Deactivates all the actions.
void	disableMotors ()
	Disables the motors on the robot. More...
void	disableSonar ()
	Disables the sonar on the robot. More...
bool	disconnect (void)
	Disconnects from a robot. More...
void	dropConnection (const char *reason="Lost connection to the robot because of undefined error.")
	Internal function, shouldn't be used, drops the conn because of error.
void	enableAutonomousDrivingSonar ()
	Enables some of the sonar on the robot (the ones for autonomous driving) More...
void	enableMotors ()
	Enables the motors on the robot. More...
void	enableSonar ()
	Enables the sonar on the robot. More...
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) More...
double	findAngleTo (const ArPose pose)
	Gets the angle to a point from the robot's current position and orientation.
const ArBatteryMTX *	findBattery (int batteryNumber) const
	Finds a battery in the robot's list (batteryNumber indices start at 1) (MTX robots only) More...
ArBatteryMTX *	findBattery (int batteryNumber)
	Finds a battery in the robot's list (batteryNumber indices start at 1) (MTX robots only) More...
double	findDeltaHeadingTo (const ArPose pose)
	Gets the difference between the angle to a point from the robot's current heading.
double	findDistanceTo (const ArPose pose)
	Gets the distance to a point from the robot's current position.
const ArLaser *	findLaser (int laserNumber) const
	Finds a laser in the robot's list (laserNumber indices start at 1) More...
ArLaser *	findLaser (int laserNumber)
	Finds a laser in the robot's list (laserNumber indices start at 1) More...
const ArLCDMTX *	findLCD (int lcdNumber=1) const
	Finds a lcd in the robot's list (lcdNumber indices start at 1) (MTX robots only) More...
ArLCDMTX *	findLCD (int lcdNumber=1)
	Finds a lcd in the robot's list (lcdNumber indices start at 1) (MTX robots only) More...
const ArRangeDevice *	findRangeDevice (const char *name, bool ignoreCase=false) const
	Finds a rangeDevice in the robot's list. More...
ArRangeDevice *	findRangeDevice (const char *name, bool ignoreCase=false)
	Finds a rangeDevice in the robot's list. More...
const ArSonarMTX *	findSonar (int sonarNumber) const
	Finds a sonar in the robot's list (sonarNumber indices start at 1) (MTX robots only) More...
ArSonarMTX *	findSonar (int sonarNumber)
	Finds a sonar in the robot's list (sonarNumber indices start at 1) (MTX robots only) More...
ArSyncTask *	findTask (const char *name)
	Finds a task by name. More...
ArSyncTask *	findTask (ArFunctor *functor)
	Finds a task by functor. More...
ArSyncTask *	findUserTask (const char *name)
	Finds a user task by name. More...
ArSyncTask *	findUserTask (ArFunctor *functor)
	Finds a user task by functor. More...
void	finishedConnection (void)
	Internal function, shouldn't be used, does the after conn stuff.
void	forceTryingToMove (void)
	Manually sets the flag that says the robot is trying to move for one cycle. More...
double	getAbsoluteMaxLatAccel (void) const
	Gets the robot's absolute maximum lateral acceleration.
double	getAbsoluteMaxLatDecel (void) const
	Gets the robot's absolute maximum lateral deceleration.
double	getAbsoluteMaxLatVel (void) const
	Gets the robot's absolute maximum lateral velocity.
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	getAbsoluteMaxTransNegVel (void) const
	Gets the robot's absolute maximum translational velocity.
double	getAbsoluteMaxTransVel (void) const
	Gets the robot's absolute maximum translational velocity.
ArResolver::ActionMap *	getActionMap (void)
	Returns the map of actions... More...
unsigned char	getAnalog (void) const
	Gets the analog value.
int	getAnalogPortSelected (void) const
	Gets which analog port is selected.
int	getAsyncConnectState (void)
const std::map< int, ArBatteryMTX * > *	getBatteryMap (void) const
	Gets the battery list. More...
std::map< int, ArBatteryMTX * > *	getBatteryMap (void)
	Gets the battery list. More...
ArRobotBatteryPacketReader *	getBatteryPacketReader (void)
	Gets the battery packet reader.
double	getBatteryVoltage (void) const
	Gets the battery voltage of the robot (normalized to 12 volt system) More...
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. More...
ChargeState	getChargeState (void) const
	Gets the charge state of the robot (see long docs) More...
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. More...
ArTime	getConnectionOpenedTime (void) const
	Gets the time the connection to the robot was made.
int	getConnectionTimeoutTime (void) const
	Gets the time without a response until connection assumed lost. More...
double	getControl (void) const
	Gets the legacy control heading. More...
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. More...
unsigned int	getCycleWarningTime (void) const
	Gets the number of ms between cycles to warn over. More...
unsigned int	getCycleWarningTime (void)
	Gets the number of ms between cycles to warn over. More...
ArDeviceConnection *	getDeviceConnection (void) const
	Gets the connection this instance uses. More...
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
	Gets the length of time a direct motion command will take precedence over actions, in milliseconds. More...
bool	getDoNotSwitchBaud (void)
	Gets the flag that controls if the robot won't switch baud rates.
const char *	getDropConnectionReason (void)
	Internal function that gets the reason the connection dropped.
ArRetFunctor1< double, ArPoseWithTime > *	getEncoderCorrectionCallback (void) const
	Gets the encoderCorrectionCallback. More...
ArPose	getEncoderPose (void) const
	Get the position of the robot according to the last robot SIP, possibly with gyro correction if installed and enabled, but without any transformations applied. More...
size_t	getEncoderPoseInterpNumReadings (void) const
	Sets the number of packets back in time the encoder position interpolation goes.
ArInterpolation *	getEncoderPoseInterpolation (void)
int	getEncoderPoseInterpPosition (ArTime timeStamp, ArPose *position, ArPoseWithTime *mostRecent=NULL)
	Gets the encoder position the robot was at at the given timestamp. More...
ArRetFunctor3< int, ArTime, ArPose *, ArPoseWithTime * > *	getEncoderPoseInterpPositionCallback (void)
	Gets the callback that will call getPoseInterpPosition.
double	getEncoderTh (void) const
	Gets the encoder angular position ("theta") of the robot. More...
ArTransform	getEncoderTransform (void) const
	Gets the encoder transform. More...
double	getEncoderX (void) const
	Gets the encoder X position of the robot. More...
double	getEncoderY (void) const
	Gets the encoder Y position of the robot. More...
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 (e.g. used in isHeadingDone())
int	getIOAnalog (int num) const
	Gets the n'th byte from the analog input data from the IO packet. More...
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. More...
unsigned char	getIODigIn (int num) const
	Gets the n'th byte from the digital input data from the IO packet. More...
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. More...
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.
bool	getKeepControlRaw (void)
	Gets whether the control value is kept raw.
ArKeyHandler *	getKeyHandler (void) const
	Gets the key handler attached to this robot.
const std::map< int, ArLaser * > *	getLaserMap (void) const
	Gets the range device list. More...
std::map< int, ArLaser * > *	getLaserMap (void)
	Gets the range device list. More...
ArTime	getLastOdometryTime (void) const
	Gets the time the last odometry was received. More...
ArTime	getLastPacketTime (void) const
	Gets the time the last packet was received. More...
double	getLatAccel (void) const
	Gets the lateral acceleration. More...
double	getLatDecel (void) const
	Gets the lateral acceleration. More...
double	getLatVel (void) const
	Gets the current lateral velocity of the robot. More...
double	getLatVelMax (void) const
	Gets the maximum lateral velocity. More...
const std::map< int, ArLCDMTX * > *	getLCDMap (void) const
	Gets the lcd list (MTX robots only) More...
std::map< int, ArLCDMTX * > *	getLCDMap (void)
	Gets the lcd list (MTX robots only) More...
long int	getLeftEncoder (void)
	Gets packet data from the left encoder. More...
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	getLogSIPContents ()
	Gets if we're logging the contents of the standard SIP (motors packet)
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 total cumulative number of degrees the robot has turned (deg) This is a virtual odometer (by analogy with a car odometer) that measures the total linear distance the robot has travelled since ARIA connected, approximated by adding linear distance between current pose and previous pose in each ArRobot cycle. More...
double	getOdometerDistance (void)
	This gets the total cumulative distance the robot has travelled (mm) This is a virtual odometer (by analogy with a car odometer) that measures the total linear distance the robot has travelled since ARIA connected, approximated by adding linear distance between current pose and previous pose in each ArRobot cycle. More...
double	getOdometerTime (void)
	This gets the time since the robot started (sec)
int	getOdometryDelay (void)
	Gets the delay in odometry readings. More...
const ArRobotConfigPacketReader *	getOrigRobotConfig (void) const
	Gets the original robot config packet information. More...
ArThread::ThreadType	getOSThread (void)
ArRobotPacketReceiver *	getPacketReceiver (void)
	Very Internal call that gets the packet sender, shouldn't be used.
ArRobotPacketSender *	getPacketSender (void)
	Very Internal call that gets the packet sender, shouldn't be used.
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. More...
size_t	getPoseInterpNumReadings (void) const
	Sets the number of packets back in time the position interpol goes.
ArInterpolation *	getPoseInterpolation (void)
	Gets the pose interpolation object, this should only really used internally.
int	getPoseInterpPosition (ArTime timeStamp, ArPose *position, ArPoseWithTime *mostRecent=NULL)
	Gets the position the robot was at at the given timestamp. More...
ArRetFunctor3< int, ArTime, ArPose *, ArPoseWithTime * > *	getPoseInterpPositionCallback (void)
	Gets the callback that will call getPoseInterpPosition.
ArPTZ *	getPTZ (void)
	Get PTZ interface associated with this robot.
std::list< ArRangeDevice * > *	getRangeDeviceList (void)
	Gets the range device list. More...
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. More...
double	getRealBatteryVoltage (void) const
	Gets the real battery voltage of the robot. More...
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. More...
ArResolver *	getResolver (void)
	Gets the resolver the robot is using.
long int	getRightEncoder (void)
	Gets packet data from the right encoder. More...
double	getRightVel (void) const
	Gets the velocity of the right wheel.
double	getRobotDiagonal (void) const
	Gets distance from center of robot to first vertex of octagon approximating the shape of robot. (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. More...
ArRobotParams *	getRobotParamsInternal (void)
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 current rotational velocity of the robot. More...
double	getRotVelMax (void) const
	Gets the maximum rotational velocity.
std::list< ArFunctor * > *	getRunExitListCopy ()
const std::map< int, ArSonarMTX * > *	getSonarMap (void) const
	Gets the sonar list (MTX robots only) More...
std::map< int, ArSonarMTX * > *	getSonarMap (void)
	Gets the sonar list (MTX robots only) More...
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. More...
ArSensorReading *	getSonarReading (int num) const
	Returns the sonar reading for the given sonar. More...
int	getStabilizingTime (void) const
	How long we stabilize for in ms (0 means no stabilizng) More...
int	getStallValue (void) const
	Gets the 2 bytes of stall and bumper flags from the robot. More...
double	getStateOfCharge (void) const
	Gets the state of charge (percent of charge, as number between 0 and 100)
double	getStateOfChargeLow (void) const
	Gets the state of charge that is considered low.
ArTime	getStateOfChargeSetTime (void) const
	Gets the last time the state of charge was set.
double	getStateOfChargeShutdown (void) const
	Gets the state of charge (percent of charge, as number between 0 and 100)
int	getStateReflectionRefreshTime (void) const
	Gets the number of milliseconds between state reflection refreshes if the state has not changed. More...
ArSyncTask *	getSyncTaskRoot (void)
	This gets the root of the syncronous task tree, only serious developers should use it. More...
int	getTemperature (void) const
	Gets the temperature of the robot, -128 if not available, -127 to 127 otherwise.
double	getTh (void) const
	Gets the global angular position ("theta") of the robot. More...
ArTransform	getToGlobalTransform (void) const
	This gets the transform from local coords to global coords. More...
ArTransform	getToLocalTransform (void) const
	This gets the transform for going from global coords to local coords. More...
double	getTransAccel (void) const
	Gets the translational acceleration.
double	getTransDecel (void) const
	Gets the translational acceleration.
double	getTransNegVelMax (void) const
	Gets the maximum translational velocity.
double	getTransVelMax (void) const
	Gets the maximum translational velocity.
double	getTripOdometerDegrees (void)
	This gets the number of degrees the robot has turned since the last time resetTripOdometer() was called (deg) This is a virtual odometer (by analogy with a car odometer) that measures the total linear distance the robot has travelled since first connected, or resetTripOdometer() was last called, approximated by adding linear distance between current pose and previous pose in each ArRobot cycle. More...
double	getTripOdometerDistance (void)
	This gets the distance the robot has travelled since the last time resetTripOdometer() was called (mm) This is a virtual odometer that measures the total linear distance the robot has travelled since first connected, or resetTripOdometer() was called, approximated by adding linear distance between current pose and previous pose in each ArRobot cycle. More...
double	getTripOdometerTime (void)
	This gets the time since the "Trip Odometer" was reset (sec) More...
double	getVel (void) const
	Gets the current translational velocity of the robot.
double	getX (void) const
	Gets the global X position of the robot. More...
double	getY (void) const
	Gets the global Y position of the robot. More...
bool	handlePacket (ArRobotPacket *packet)
	Internal function, takes a packet and passes it to the packet handlers, returns true if handled, false otherwise.
bool	hasBattery (ArBatteryMTX *device) const
	Finds whether a particular battery is attached to this robot or not. More...
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	hasLaser (ArLaser *device) const
	Finds whether a particular range device is attached to this robot or not. More...
bool	hasLatVel (void) const
	Sees if the robot supports lateral velocities (e.g. More...
bool	hasLCD (ArLCDMTX *device) const
	Finds whether a particular lcd is attached to this robot or not (MTX robots only) More...
bool	hasRangeDevice (ArRangeDevice *device) const
	Finds whether a particular range device is attached to this robot or not. More...
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	hasSonar (ArSonarMTX *device) const
	Finds whether a particular sonar is attached to this robot or not (MTX robots only) More...
bool	hasStateOfCHarge () const
	Gets if the state of charge value is in use. More...
bool	hasTableSensingIR (void) const
	Gets whether the robot has table sensing IR or not (see params in docs)
bool	hasTemperature (void)
	Returns true if we have a temperature, false otherwise.
bool	haveRequestedEncoderPackets (void)
	Sees if we've explicitly requested encoder packets.
bool	haveRequestedIOPackets (void)
	Sees if we've explicitly requested IO packets.
bool	haveStateOfCharge (void) const
	Gets if the state of charge value is in use.
void	incCounter (void)
	This is only for use by syncLoop.
void	init (void)
	Internal function, shouldn't be used. More...
void	internalIgnoreNextPacket (void)
void	internalSetFakeFirstEncoderPose (bool fakeFirstEncoderPose)
bool	isChargerPowerGood (void) const
	Gets if the robot is on a charger.
bool	isConnected (void) const
	Questions whether the robot is connected or not. More...
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. More...
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. More...
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. More...
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. More...
bool	isSonarNew (int num) const
	Find out if the given sonar reading was newly refreshed by the last incoming SIP received. More...
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. More...
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) More...
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. More...
void	logUserTasks (void) const
	Logs the list of user tasks, strictly for your viewing pleasure. More...
void	loopOnce (void)
	This function loops once... only serious developers should use it. More...
bool	madeConnection (bool resetConnectionTime=true)
	Internal function, shouldn't be used, does the initial conn stuff.
void	move (double distance)
	Move the given distance forward/backwards. More...
void	moveTo (ArPose pose, bool doCumulative=true)
	Change stored pose (i.e. the value returned by getPose()) More...
void	moveTo (ArPose to, ArPose from, bool doCumulative=true)
	Change stored pose (i.e. the value returned by getPose()) More...
void	packetHandler (void)
	Packet Handler, internal (calls old or new as appropriate)
void	packetHandlerNonThreaded (void)
	Packet handler, internal, for use in the syncloop when there's no threading. More...
void	packetHandlerThreadedProcessor (void)
	Packet handler, internal, for use in the syncloop to handle the actual packets.
void	packetHandlerThreadedReader (void)
	Packet handler, internal, for using from a thread to actually read all the packets. More...
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. More...
void	processNewSonar (char number, int range, ArTime timeReceived)
	Processes a new sonar reading, internal. More...
void	processParamFile (void)
bool	remAction (ArAction *action)
	Removes an action from the list, by pointer. More...
bool	remAction (const char *actionName)
	Removes an action from the list, by name. More...
bool	remBattery (ArBatteryMTX *battery)
	Remove a battery from the robot's list, by instance (MTX robots only) Primarily for ARIA internal use only. More...
bool	remBattery (int batteryNumber)
	Remove a battery from the robot's list, by number (MTX robots only) Primarily for ARIA internal use only. More...
void	remConnectCB (ArFunctor *functor)
	Removes a connect callback. More...
void	remDisconnectNormallyCB (ArFunctor *functor)
	Removes a callback for when disconnect is called while connected. More...
void	remDisconnectOnErrorCB (ArFunctor *functor)
	Removes a callback for when disconnection happens because of an error. More...
void	remFailedConnectCB (ArFunctor *functor)
	Removes a callback for when a connection to the robot is failed. More...
bool	remLaser (ArLaser *laser, bool removeAsRangeDevice=true)
	Remove a range device from the robot's list, by instance. More...
bool	remLaser (int laserNumber, bool removeAsRangeDevice=true)
	Remove a range device from the robot's list, by number. More...
bool	remLCD (ArLCDMTX *lcd)
	Remove a lcd from the robot's list, by instance. More...
bool	remLCD (int lcdNumber)
	Remove a lcd from the robot's list, by number. More...
void	remPacketHandler (ArRetFunctor1< bool, ArRobotPacket *> *functor)
	Removes a packet handler from the list of packet handlers. More...
void	remRangeDevice (const char *name)
	Remove a range device from the robot's list, by name. More...
void	remRangeDevice (ArRangeDevice *device)
	Remove a range device from the robot's list, by instance. More...
void	remRunExitCB (ArFunctor *functor)
	Removes a callback for when the run loop exits for what ever reason. More...
void	remSensorInterpTask (const char *name)
	Removes a sensor interp tasks by name. More...
void	remSensorInterpTask (ArFunctor *functor)
	Removes a sensor interp tasks by functor. More...
void	remSetEncoderTransformCB (ArFunctor *functor)
	Removes a callback for when the encoder transform is changed.
bool	remSonar (ArSonarMTX *sonar)
	Remove a sonar from the robot's list, by instance. More...
bool	remSonar (int sonarNumber)
	Remove a sonar from the robot's list, by number. More...
void	remStabilizingCB (ArFunctor *functor)
	Removes stabilizing callback. More...
void	remUserTask (const char *name)
	Removes a user task from the list of synchronous taskes by name. More...
void	remUserTask (ArFunctor *functor)
	Removes a user task from the list of synchronous taskes by functor. More...
void	requestEncoderPackets (void)
	Starts a continuous stream of encoder packets. More...
void	requestIOPackets (void)
	Starts a continuous stream of IO packets. More...
void	resetTripOdometer (void)
	Resets the "Trip Odometer". More...
void	robotLocker (void)
	Robot locker, internal.
void	robotUnlocker (void)
	Robot unlocker, internal.
void	run (bool stopRunIfNotConnected, bool runNonThreaded=false)
	Starts the instance to do processing in this thread. More...
void	runAsync (bool stopRunIfNotConnected, bool runNonThreadedPacketReader=false)
	Starts the instance to do processing in its own new thread. More...
bool	setAbsoluteMaxLatAccel (double maxAccel)
	Sets the robot's absolute maximum lateral acceleration. More...
bool	setAbsoluteMaxLatDecel (double maxDecel)
	Sets the robot's absolute maximum lateral deceleration. More...
bool	setAbsoluteMaxLatVel (double maxVel)
	Sets the robot's absolute maximum lateral velocity. More...
bool	setAbsoluteMaxRotAccel (double maxAccel)
	Sets the robot's absolute maximum rotational acceleration. More...
bool	setAbsoluteMaxRotDecel (double maxDecel)
	Sets the robot's absolute maximum rotational deceleration. More...
bool	setAbsoluteMaxRotVel (double maxVel)
	Sets the robot's absolute maximum rotational velocity. More...
bool	setAbsoluteMaxTransAccel (double maxAccel)
	Sets the robot's absolute maximum translational acceleration. More...
bool	setAbsoluteMaxTransDecel (double maxDecel)
	Sets the robot's absolute maximum translational deceleration. More...
bool	setAbsoluteMaxTransNegVel (double maxVel)
	Sets the robot's absolute maximum translational velocity. More...
bool	setAbsoluteMaxTransVel (double maxVel)
	Sets the robot's absolute maximum translational velocity. More...
void	setBatteryInfo (double realBatteryVoltage, double normalizedBatteryVoltage, bool haveStateOfCharge, double stateOfCharge)
	Sets the battery info.
void	setBatteryVoltageAverageOfNum (size_t numToAverage)
	Sets the number of readings the battery voltage is the average of (default 20)
void	setChargeState (ArRobot::ChargeState chargeState)
	Sets the charge state (for use with setting the state of charge)
void	setConnectionCycleMultiplier (unsigned int multiplier)
	Sets the multiplier for how many cycles ArRobot waits when connecting. More...
void	setConnectionTimeoutTime (int mSecs)
	Sets the time without a response until connection assumed lost. More...
void	setConnectWithNoParams (bool connectWithNoParams)
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. More...
void	setCycleWarningTime (unsigned int ms)
	Sets the number of ms between cycles to warn over. More...
void	setDeadReconPose (ArPose pose)
	Sets the dead recon position of the robot. More...
void	setDeltaHeading (double deltaHeading)
	Sets the delta heading. More...
void	setDeviceConnection (ArDeviceConnection *connection)
	Sets the connection this instance uses. More...
void	setDirectMotionPrecedenceTime (int mSec)
	Sets the length of time a direct motion command will take precedence over actions, in milliseconds. More...
void	setDoNotSwitchBaud (bool doNotSwitchBaud)
	Sets the flag that controls if the robot will switch baud rates.
void	setEncoderCorrectionCallback (ArRetFunctor1< double, ArPoseWithTime > *functor)
	Sets the encoderCorrectionCallback. More...
void	setEncoderPose (ArPose encoderPose)
	Sets the encoder pose, for internal use.
void	setEncoderPoseInterpNumReadings (size_t numReadings)
	Sets the number of packets back in time the ArInterpolation goes for encoder readings.
void	setEncoderTransform (ArPose deadReconPos, ArPose globalPos)
	Changes the transform. More...
void	setEncoderTransform (ArPose transformPos)
	Changes the transform directly. More...
void	setEncoderTransform (ArTransform transform)
	Changes the transform directly.
void	setHeading (double heading)
	Sets the heading. More...
void	setHeadingDoneDiff (double degrees)
	sets the difference required for being done with a heading change (e.g. used in isHeadingDone())
void	setIgnoreMicroControllerBatteryInfo (bool ignoreMicroControllerBatteryInfo)
	Sets things so that the battery info from the microcontroller will be ignored.
void	setIsChargerPowerGood (bool onCharger)
	Sets if we're on the charger (for use with setting the state of charge)
void	setKeepControlRaw (bool keepControlRaw)
	Sets whether to keep the control value raw or not.
void	setLatAccel (double acc)
	Sets the lateral acceleration. More...
void	setLatDecel (double decel)
	Sets the lateral acceleration. More...
void	setLatVel (double latVelocity)
	Sets the lateral velocity. More...
void	setLatVelMax (double vel)
	Sets the maximum lateral velocity. More...
void	setLogActions (bool logActions)
	Sets if we're logging all the actions as they happen.
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	setLogSIPContents (bool logSIP)
	Set if we're logging the contents of the standard SIP (motor packets)
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	setMTXTimeUSecCB (ArRetFunctor1< bool, ArTypes::UByte4 *> *functor)
	Adds a callback that'll be used to see the time on the computer side (for an MTX)
void	setMutexLockWarningTime (double sec)
	Set robot lock warning time (see ArMutex::setLockWarningTime())
void	setMutexLogging (bool v)
	Turn on verbose locking of robot mutex.
void	setMutexUnlockWarningTime (double sec)
	Set robot lock-unlock warning time (see ArMutex::setUnlockWarningTime())
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	setOdometryDelay (int msec)
	Sets the delay in the odometry readings. More...
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 sent and their payloads.
void	setPoseInterpNumReadings (size_t numReadings)
	Sets the number of packets back in time the ArInterpolation goes.
void	setPTZ (ArPTZ *ptz)
	Associates an ArPTZ object with this robot (see getPTZ())
void	setRawEncoderPose (ArPose rawEncoderPose)
	Sets the raw encoder pose, for internal use.
void	setRealBatteryVoltageAverageOfNum (size_t numToAverage)
	Sets the number of readings the real battery voltage is the average of (default 20)
void	setRequireConfigPacket (bool requireConfigPacket)
	Sets if a config packet is requried or not... More...
void	setResolver (ArResolver *resolver)
	Sets the resolver the robot is using.
void	setRobotParams (ArRobotParams *params)
	Sets the robot to use a passed in set of params (passes ownership) More...
void	setRotAccel (double acc)
	Sets the rotational acceleration.
void	setRotDecel (double decel)
	Sets the rotational acceleration.
void	setRotVel (double velocity)
	Sets the rotational velocity. More...
void	setRotVelMax (double vel)
	Sets the maximum rotational velocity.
void	setStabilizingTime (int mSecs)
	How long we should stabilize for in ms (0 disables stabilizing) More...
void	setStateOfCharge (double stateOfCharge)
	Manually sets the current percentage that the robot is charged (argument is percentage, as a number between 0 and 100)
void	setStateOfChargeLow (double stateOfChargeLow)
	Sets the state of charge (percentage) that is considered to be low.
void	setStateOfChargeShutdown (double stateOfChargeShutdown)
	Sets the state of charge that will cause a shutdown.
void	setStateReflectionRefreshTime (int msec)
	Sets the number of milliseconds between state reflection refreshes if the state has not changed. More...
void	setTransAccel (double acc)
	Sets the translational acceleration.
void	setTransDecel (double decel)
	Sets the translational acceleration.
void	setTransNegVelMax (double negVel)
	Sets the maximum translational velocity.
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)
	Sets the velocity. More...
void	setVel2 (double leftVelocity, double rightVelocity)
	Sets the velocity of the wheels independently. More...
void	startStabilization (void)
	Internal function, shouldn't be used, calls the preconnected stuff.
void	stateReflector (void)
	State Reflector, internal. More...
void	stop (void)
	Stops the robot. More...
void	stopEncoderPackets (void)
	Stops a continuous stream of encoder packets. More...
void	stopIOPackets (void)
	Stops a continuous stream of IO packets.
void	stopRunning (bool doDisconnect=true)
	Stops the robot from doing any more processing. More...
void	stopStateReflection (void)
	Sets the state reflection to be inactive (until motion or clearDirectMotion) More...
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. More...
WaitState	waitForConnectOrConnFail (unsigned int msecs=0)
	Suspend calling thread until the ArRobot is connected or fails to connect. More...
WaitState	waitForRunExit (unsigned int msecs=0)
	Suspend calling thread until the ArRobot run loop has exited. More...
void	wakeAllConnOrFailWaitingThreads ()
	Wake up all threads waiting for connection or connection failure. More...
void	wakeAllConnWaitingThreads ()
	Wake up all threads waiting for connection. More...
void	wakeAllRunExitWaitingThreads ()
	Wake up all threads waiting for the run loop to exit. More...
void	wakeAllWaitingThreads ()
	Wake up all threads waiting on this robot. More...
	~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
enum	LatDesired { LAT_NONE, LAT_IGNORE, LAT_VEL }
enum	RotDesired { ROT_NONE, ROT_IGNORE, ROT_HEADING, ROT_VEL }
enum	TransDesired {   TRANS_NONE, TRANS_IGNORE, TRANS_VEL, TRANS_VEL2,   TRANS_DIST, TRANS_DIST_NEW }

Protected Member Functions
void	reset (void)

Protected Attributes
double	myAbsoluteMaxLatAccel
double	myAbsoluteMaxLatDecel
double	myAbsoluteMaxLatVel
double	myAbsoluteMaxRotAccel
double	myAbsoluteMaxRotDecel
double	myAbsoluteMaxRotVel
double	myAbsoluteMaxTransAccel
double	myAbsoluteMaxTransDecel
double	myAbsoluteMaxTransNegVel
double	myAbsoluteMaxTransVel
ArActionDesired	myActionDesired
bool	myActionLatSet
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
bool	myAutonomousDrivingSonarEnabled
ArRunningAverage	myBatteryAverager
std::map< int, ArBatteryMTX * >	myBatteryMap
ArRobotBatteryPacketReader *	myBatteryPacketReader
double	myBatteryVoltage
bool	myBlockingConnectRun
ChargeState	myChargeState
double	myCompass
ArDeviceConnection *	myConn
std::list< ArFunctor * >	myConnectCBList
ArCondition	myConnectCond
unsigned int	myConnectionCycleMultiplier
ArTime	myConnectionOpenedTime
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
bool	myDoNotSwitchBaud
std::string	myDropConnectionReason
ArRetFunctor1< double, ArPoseWithTime > *	myEncoderCorrectionCB
ArTransform	myEncoderGlobalTrans
ArInterpolation	myEncoderInterpolation
ArPoseWithTime	myEncoderPose
ArRetFunctor3C< int, ArRobot, ArTime, ArPose *, ArPoseWithTime * >	myEncoderPoseInterpPositionCB
ArTime	myEncoderPoseTaken
ArTransform	myEncoderTransform
std::list< ArFunctor * >	myFailedConnectCBList
bool	myFakeFirstEncoderPose
int	myFaultFlags
bool	myFirstEncoderPose
int	myFlags
ArPose	myGlobalPose
bool	myHasFaultFlags
bool	myHaveStateOfCharge
double	myHeadingDoneDiff
bool	myIgnoreMicroControllerBatteryInfo
bool	myIgnoreNextPacket
ArInterpolation	myInterpolation
int	myIOAnalog [128]
int	myIOAnalogSize
unsigned char	myIODigIn [255]
int	myIODigInSize
unsigned char	myIODigOut [255]
int	myIODigOutSize
bool	myIsChargerPowerGood
bool	myIsConnected
bool	myIsStabilizing
bool	myKeepControlRaw
ArKeyHandler *	myKeyHandler
bool	myKeyHandlerUseExitNotShutdown
std::map< int, ArLaser * >	myLaserMap
int	myLastActionLatVal
bool	myLastActionRotHeading
bool	myLastActionRotStopped
int	myLastActionRotVal
int	myLastActionTransVal
double	myLastCalculatedRotVel
double	myLastHeading
ArTime	myLastIOPacketReceivedTime
ArTime	myLastLatSent
LatDesired	myLastLatType
int	myLastLatVal
double	myLastLatVel
ArTime	myLastOdometryReceivedTime
ArTime	myLastPacketReceivedTime
ArTime	myLastPulseSent
ArTime	myLastRotSent
RotDesired	myLastRotType
int	myLastRotVal
double	myLastRotVel
double	myLastSentLatAccel
double	myLastSentLatDecel
double	myLastSentLatVelMax
double	myLastSentRotAccel
double	myLastSentRotDecel
double	myLastSentRotVelMax
double	myLastSentRotVelNegMax
double	myLastSentRotVelPosMax
double	myLastSentTransAccel
double	myLastSentTransDecel
double	myLastSentTransVelMax
int	myLastTh
ArTime	myLastTransSent
TransDesired	myLastTransType
int	myLastTransVal
int	myLastTransVal2
double	myLastVel
int	myLastX
int	myLastY
double	myLatAccel
double	myLatDecel
ArTime	myLatSetTime
LatDesired	myLatType
double	myLatVal
double	myLatVel
double	myLatVelMax
std::map< int, ArLCDMTX * >	myLCDMap
long int	myLeftEncoder
double	myLeftVel
bool	myLogActions
bool	myLogMovementReceived
bool	myLogMovementSent
bool	myLogSIPContents
bool	myLogVelocitiesReceived
int	myMotorPacCount
int	myMotorPacCurrentCount
double	myMoveDoneDist
ArRetFunctor1< bool, ArTypes::UByte4 * > *	myMTXTimeUSecCB
ArMutex	myMutex
std::string	myName
bool	myNoTimeWarningThisCycle
int	myNumSonar
double	myOdometerDegrees
double	myOdometerDistance
ArTime	myOdometerStart
int	myOdometryDelay
ArRobotConfigPacketReader *	myOrigRobotConfig
bool	myOverriddenChargeState
bool	myOverriddenIsChargerPowerGood
bool	myOwnTheResolver
std::list< ArRetFunctor1< bool, ArRobotPacket * > * >	myPacketHandlerList
std::list< ArRobotPacket * >	myPacketList
ArMutex	myPacketMutex
ArRobotPacketReaderThread	myPacketReader
ArCondition	myPacketReceivedCondition
bool	myPacketsReceivedTracking
long	myPacketsReceivedTrackingCount
ArTime	myPacketsReceivedTrackingStarted
bool	myPacketsSentTracking
ArRobotParams *	myParams
ArRetFunctor3C< int, ArRobot, ArTime, ArPose *, ArPoseWithTime * >	myPoseInterpPositionCB
ArPTZ *	myPtz
std::list< ArRangeDevice * >	myRangeDeviceList
ArPoseWithTime	myRawEncoderPose
ArRunningAverage	myRealBatteryAverager
double	myRealBatteryVoltage
ArRobotPacketReceiver	myReceiver
bool	myRequestedEncoderPackets
bool	myRequestedIOPackets
bool	myRequireConfigPacket
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
bool	myRunningNonThreaded
ArRobotPacketSender	mySender
bool	mySentPulse
ArCallbackList	mySetEncoderTransformCBList
bool	mySonarEnabled
std::map< int, ArSonarMTX * >	mySonarMap
int	mySonarPacCount
int	mySonarPacCurrentCount
std::map< int, ArSensorReading * >	mySonars
std::list< ArFunctor * >	myStabilizingCBList
int	myStabilizingTime
int	myStallValue
ArTime	myStartedStabilizing
double	myStateOfCharge
double	myStateOfChargeLow
ArTime	myStateOfChargeSetTime
double	myStateOfChargeShutdown
int	myStateReflectionRefreshTime
ArSyncLoop	mySyncLoop
ArSyncTask *	mySyncTaskRoot
char	myTemperature
time_t	myTimeLastMotorPacket
time_t	myTimeLastSonarPacket
int	myTimeoutTime
double	myTransAccel
double	myTransDecel
ArPose	myTransDistStart
double	myTransNegVelMax
ArTime	myTransSetTime
TransDesired	myTransType
double	myTransVal
double	myTransVal2
double	myTransVelMax
double	myTripOdometerDegrees
double	myTripOdometerDistance
ArTime	myTripOdometerStart
bool	myTryingToMove
double	myVel
bool	myWarnedAboutExtraSonar

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

ArRobotConnector

Examples:

actionExample.cpp, actionGroupExample.cpp, actsColorFollowingExample.cpp, armExample.cpp, auxSerialExample.cpp, cameraPTZExample.cpp, demo.cpp, directMotionExample.cpp, dpptuExample.cpp, gotoActionExample.cpp, gpsExample.cpp, gpsRobotTaskExample.cpp, gripperExample.cpp, gyroExample.cpp, imuExample.cpp, joydriveActionExample.cpp, laserConnect.cpp, lasers.cpp, lineFinderExample.cpp, moduleExample.cpp, moduleExample_Mod.cpp, mtxIO.cpp, mtxLCDDisplay.cpp, mtxPowerControl.cpp, mtxWheelLights.cpp, robotConnectionCallbacks.cpp, robotSyncTaskExample.cpp, seekurPower.cpp, simpleConnect.cpp, simpleMotionCommands.cpp, teleopActionsExample.cpp, triangleDriveToActionExample.cpp, and wander.cpp.

Member Enumeration Documentation

WaitState

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.

Constructor & Destructor Documentation

ArRobot()

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.)
doSigHandle	do normal signal handling and have this robot instance stopRunning() when the program is signaled
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.
addAriaExitCallback	If true (default), add callback to global Aria class to stop running the processing loop and disconnect from robot when Aria::exit() is called. If false, do not disconnect on Aria::exit()

MPL 20130509 making this default to true, so that things that use loopOnce and not one of the run calls can work (the run calls set this to whatever it should be anyway)

Member Function Documentation

actionHandler()

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

addAction()

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, gpsRobotTaskExample.cpp, gripperExample.cpp, gyroExample.cpp, joydriveActionExample.cpp, teleopActionsExample.cpp, triangleDriveToActionExample.cpp, and wander.cpp.

addBattery()

bool ArRobot::addBattery	(	ArBatteryMTX *	battery,
		int	batteryNumber
	)

Adds a battery to the robot's map of them.

Since

2.7.0

Note

Do not call this method directly if using ArBatteryConnector, it will automatically add battery(s).

addConnectCB()

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:

directMotionExample.cpp, and robotConnectionCallbacks.cpp.

addDisconnectNormallyCB()

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

addDisconnectOnErrorCB()

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

addFailedConnectCB()

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

addLaser()

bool ArRobot::addLaser	(	ArLaser *	laser,
		int	laserNumber,
		bool	addAsRangeDevice = true
	)

Adds a laser to the robot's map of them.

Since

2.7.0

Note

Do not call this method directly if using ArLaserConnector, it will automatically add laser(s).

addLCD()

bool ArRobot::addLCD	(	ArLCDMTX *	lcd,
		int	lcdNumber
	)

Adds a lcd to the robot's map of them.

Since

2.7.0

Note

Do not call this method directly if using ArLCDConnector, it will automatically add lcd(s).

addPacketHandler()

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, and imuExample.cpp.

addRangeDevice()

void ArRobot::addRangeDevice

(

ArRangeDevice *

device

)

Adds a rangeDevice to the robot's list of them, and set the ArRangeDevice object's robot pointer to this ArRobot object.

Note

It is not neccesary to call this method directly to add a laser (ArLaser subclass or ArSick object) if using ArLaserConnector or ArSimpleConnector, those classes automatically add the laser(s). (But you may call this method with e.g. ArSonarDevice, ArIRs, ArBumpers, etc.)

Examples:

actionExample.cpp, actionGroupExample.cpp, actsColorFollowingExample.cpp, demo.cpp, gotoActionExample.cpp, gpsRobotTaskExample.cpp, gripperExample.cpp, gyroExample.cpp, lineFinderExample.cpp, robotSyncTaskExample.cpp, teleopActionsExample.cpp, triangleDriveToActionExample.cpp, and wander.cpp.

addRunExitCB()

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

addSensorInterpTask()

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.
state	Optional pointer to external ArSyncTask state variable; normally not needed and may be NULL or omitted.

See also

remSensorInterpTask

Examples:

dpptuExample.cpp, and robotSyncTaskExample.cpp.

addSonar()

bool ArRobot::addSonar	(	ArSonarMTX *	sonar,
		int	sonarNumber
	)

Adds a sonar to the robot's map of them.

Since

2.7.0

Note

Do not call this method directly if using ArBatteryConnector, it will automatically add battery(s).

addStabilizingCB()

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

addUserTask()

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.
state	Optional pointer to external ArSyncTask state variable; normally not needed and may be NULL or omitted.

See also

remUserTask

Examples:

gripperExample.cpp, and gyroExample.cpp.

applyEncoderOffset()

int ArRobot::applyEncoderOffset	(	ArPoseWithTime	from,
		ArTime	to,
		ArPose *	result
	)

Applies the encoder motion from the passed in ArPoseWithTime to the passed in ArTime.

Parameters

from	the pose with time to apply the offset from... it applies the encoder mostion from the time on this to the to param
to	the time to find the offset to
result	the pose to put the result in

Returns

This returns the same way that ArInterpolation::getPose does...

See also

ArInterpolation::getPose

applyTransform()

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

areSonarsEnabled()

bool ArRobot::areSonarsEnabled ( void  ) const

inline

returns true if the sonars are enabled

This used to just check the low level firmware values, but that's now done by areSonarsEnabledLegacy.

asyncConnect()

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.

Most programs should use ArRobotConnector to perform the connection rather than using thin method directly.

This function 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

asyncConnectHandler()

int ArRobot::asyncConnectHandler

(

bool

tryHarderToConnect

)

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

attachKeyHandler()

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, imuExample.cpp, lineFinderExample.cpp, triangleDriveToActionExample.cpp, and wander.cpp.

blockingConnect()

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.

Most programs should use an ArRobotConnector object to perform the connection rather than using this method directly.

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

checkRangeDevicesCumulativeBox()

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

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

This goes through all of the registered range devices and locks each, calls cumulativeReadingBox() on it, and then unlocks it. If a reading was found in the box, returns with results.

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	If not NULL, a pointer to a position in which to store the location of the closest position
rangeDevice	If not NULL, a pointer in which to store a pointer to the range device that provided the closest reading in the box.
useLocationDependentDevices	If false, ignore sensor devices that are "location dependent". If true, include them in this check.

Returns

If >= 0 then this is the distance to the closest reading. If < 0 then there were no readings in the given region

checkRangeDevicesCumulativePolar()

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.
useLocationDependentDevices	If false, ignore sensor devices that are "location dependent". If true, include them in this check.

checkRangeDevicesCurrentBox()

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

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

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

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
rangeDevice	If not null, then a pointer to the ArRangeDevice that provided the returned reading is placed in this variable. the closest position
useLocationDependentDevices	If false, ignore sensor devices that are "location dependent". If true, include them in this check.

Returns

If >= 0 then this is the distance to the closest reading. If < 0 then there were no readings in the given region

checkRangeDevicesCurrentPolar()

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.
useLocationDependentDevices	If false, ignore sensor devices that are "location dependent". If true, include them in this check.

clearDirectMotion()

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

com()

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

Examples:

gpsRobotTaskExample.cpp, and seekurPower.cpp.

com2Bytes()

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

Examples:

gpsExample.cpp, and seekurPower.cpp.

comInt()

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, gpsRobotTaskExample.cpp, gyroExample.cpp, imuExample.cpp, joydriveActionExample.cpp, mtxIO.cpp, mtxLCDDisplay.cpp, mtxPowerControl.cpp, simpleConnect.cpp, triangleDriveToActionExample.cpp, and wander.cpp.

comStr()

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.

comStrN()

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

disableMotors()

void ArRobot::disableMotors

(

)

Disables the motors on the robot.

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

disableSonar()

void ArRobot::disableSonar

(

)

Disables the sonar on the robot.

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

disconnect()

bool ArRobot::disconnect

(

void

)

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. Then it disables the robot motors, sends CLOSE command to robot, waits one seconds, and closes the communications connection. This disconnection normally happens automatically when the program exits by calling Aria::exit(), or if communication to the robot fails during the run cycle, and this method does not need to be explicitly 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)

enableAutonomousDrivingSonar()

void ArRobot::enableAutonomousDrivingSonar

(

)

Enables some of the sonar on the robot (the ones for autonomous driving)

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

enableMotors()

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, gpsRobotTaskExample.cpp, gripperExample.cpp, simpleMotionCommands.cpp, teleopActionsExample.cpp, and wander.cpp.

enableSonar()

void ArRobot::enableSonar

(

)

Enables the sonar on the robot.

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

findAction()

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*)

findBattery() [1/2]

const ArBatteryMTX * ArRobot::findBattery

(

int

batteryNumber

)

const

Finds a battery in the robot's list (batteryNumber indices start at 1) (MTX robots only)

Since

2.7.0

See also

ArBatteryConnector

findBattery() [2/2]

ArBatteryMTX * ArRobot::findBattery

(

int

batteryNumber

)

Finds a battery in the robot's list (batteryNumber indices start at 1) (MTX robots only)

Since

2.7.0

See also

ArBatteryConnector

findLaser() [1/2]

const ArLaser * ArRobot::findLaser

(

int

laserNumber

)

const

Finds a laser in the robot's list (laserNumber indices start at 1)

Since

2.7.0

See also

ArLaserConnector

findLaser() [2/2]

ArLaser * ArRobot::findLaser

(

int

laserNumber

)

Finds a laser in the robot's list (laserNumber indices start at 1)

Since

2.7.0

See also

ArLaserConnector

findLCD() [1/2]

const ArLCDMTX * ArRobot::findLCD

(

int

lcdNumber = 1

)

const

Finds a lcd in the robot's list (lcdNumber indices start at 1) (MTX robots only)

Since

2.7.0

See also

ArLCDConnector

Examples:

mtxLCDDisplay.cpp.

findLCD() [2/2]

ArLCDMTX * ArRobot::findLCD

(

int

lcdNumber = 1

)

Finds a lcd in the robot's list (lcdNumber indices start at 1) (MTX robots only)

Since

2.7.0

See also

ArLCDConnector

findRangeDevice() [1/2]

const ArRangeDevice * ArRobot::findRangeDevice	(	const char *	name,
		bool	ignoreCase = false
	)		const

Finds a rangeDevice in the robot's list.

Parameters

name	return the first device with this name
ignoreCase	true to ignore case, false to pay attention to it

Returns

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

Examples:

actionExample.cpp.

findRangeDevice() [2/2]

ArRangeDevice * ArRobot::findRangeDevice	(	const char *	name,
		bool	ignoreCase = false
	)

Finds a rangeDevice in the robot's list.

Parameters

name	return the first device with this name
ignoreCase	true to ignore case, false to pay attention to it

Returns

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

findSonar() [1/2]

const ArSonarMTX * ArRobot::findSonar

(

int

sonarNumber

)

const

Finds a sonar in the robot's list (sonarNumber indices start at 1) (MTX robots only)

Since

2.7.0

See also

ArSonarConnector

findSonar() [2/2]

ArSonarMTX * ArRobot::findSonar

(

int

sonarNumber

)

Finds a sonar in the robot's list (sonarNumber indices start at 1) (MTX robots only)

Since

2.7.0

See also

ArSonarConnector

findTask() [1/2]

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

findTask() [2/2]

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

findUserTask() [1/2]

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

findUserTask() [2/2]

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

forceTryingToMove()

void ArRobot::forceTryingToMove ( void  )

inline

Manually sets the flag that says the robot is trying to move for one cycle.

This is so that things that might move the robot at any time can can make the robot look like it is otherwise in the TryingToMove state, even if no motion is currently being requested. For example, ArNetworking's teleoperation mode forces TryingToMove at all times while active, not just when requesting motion. This method must be called in each task cycle, it is reset at the end of the task cycle (in state reflection stage) to its natural (non-forced) value.

See also

isTryingToMove()

getActionMap()

ArResolver::ActionMap * ArRobot::getActionMap

(

void

)

Returns the map of actions...

don't do this unless you really know what you're doing

getBatteryMap() [1/2]

const std::map< int, ArBatteryMTX * > * ArRobot::getBatteryMap

(

void

)

const

Gets the battery list.

Since

2.7.0

See also

ArBatteryConnector

getBatteryMap() [2/2]

std::map< int, ArBatteryMTX * > * ArRobot::getBatteryMap

(

void

)

Gets the battery list.

Since

2.7.0

See also

ArBatteryConnector

getBatteryVoltage()

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, use getBatteryVoltageNow() to get the value most recently received. (Access the number of readings used in the running average with getBatteryVoltageAverageOfNum() and setBatteryVoltageAverageOfNum().)

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

See also

getRealBatteryVoltage()

getBatteryVoltageNow()

Examples:

simpleConnect.cpp, and simpleMotionCommands.cpp.

getBatteryVoltageNow()

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().

See also

getBatteryVoltage()

getRealBatteryVoltage()

getChargeState()

ArRobot::ChargeState ArRobot::getChargeState

(

void

)

const

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

Note

only available on robots with an firwmare operating system (ARCOS or uARCS) thats at least newer than July of

1. It'll just be CHARGING_UNKNOWN on everything else always.

Some robots don't actively manage their own charge state (Pioneer 3, Amigo), instead this is done by the external charger hardware. ChargeState is most revelant on uARCS systems (i.e. PatrolBot). If the firmware for the Pioneer based robots is newer and supports charge state, charge state will just always be CHARGING_NOT. If the firmware on these robots is older and does not support, it, this function will return CHARGING_UNKNOWN. (on these robots, you might be able to guess what the charger is doing based on reported battery voltage, but this is not a direct measure.)

getConnectionCycleMultiplier()

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

getConnectionTimeoutTime()

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.

getControl()

double ArRobot::getControl ( void  ) const

inline

Gets the legacy control heading.

Gets the control heading as an offset from the current heading... Note that this doesn't work in any modern firmware (uARCS, ARCOS, seekur, AmigoSH)

See also

getTh

getCycleTime()

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

getCycleWarningTime() [1/2]

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

getCycleWarningTime() [2/2]

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

getDeviceConnection()

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

getDirectMotionPrecedenceTime()

unsigned int ArRobot::getDirectMotionPrecedenceTime

(

void

)

const

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

The direct motion precedence time determines how long actions will be ignored after a direct motion command is given.

If the direct motion precedence time is 0, then direct motion will take precedence over actions until a clearDirectMotion command is issued. This value defaults to 0.

Returns

the number of milliseconds direct movement will trump actions

See also

setDirectMotionPrecedenceTime

clearDirectMotion

getEncoderCorrectionCallback()

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

getEncoderPose()

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, but without any transformations applied.

See also

getPose()

getRawEncoderPose()

getEncoderPoseInterpPosition()

int ArRobot::getEncoderPoseInterpPosition ( ArTime  timeStamp, ArPose *  position, ArPoseWithTime *  mostRecent = NULL  )

inline

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

See also

ArInterpolation::getPose

getEncoderTh()

double ArRobot::getEncoderTh ( void  ) const

inline

Gets the encoder angular position ("theta") of the robot.

See also

getEncoderPose()

getEncoderTransform()

ArTransform ArRobot::getEncoderTransform

(

void

)

const

Gets the encoder transform.

Returns

the transform from encoder to global coords

getEncoderX()

double ArRobot::getEncoderX ( void  ) const

inline

Gets the encoder X position of the robot.

See also

getEncoderPose()

getEncoderY()

double ArRobot::getEncoderY ( void  ) const

inline

Gets the encoder Y position of the robot.

See also

getEncoderPose()

getIOAnalog()

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).

See also

requestIOPackets()

getIOAnalogVoltage()

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.

See also

requestIOPackets()

getIODigIn()

unsigned char ArRobot::getIODigIn

(

int

num

)

const

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

See also

requestIOPackets()

getIODigOut()

unsigned char ArRobot::getIODigOut

(

int

num

)

const

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

See also

requestIOPackets()

getLaserMap() [1/2]

const std::map< int, ArLaser * > * ArRobot::getLaserMap

(

void

)

const

Gets the range device list.

Since

2.7.0

See also

ArLaserConnector

Examples:

laserConnect.cpp, and lasers.cpp.

getLaserMap() [2/2]

std::map< int, ArLaser * > * ArRobot::getLaserMap

(

void

)

Gets the range device list.

Since

2.7.0

See also

ArLaserConnector

getLastOdometryTime()

ArTime ArRobot::getLastOdometryTime

(

void

)

const

Gets the time the last odometry was received.

Get the time at which thet most recent SIP packet was received.

Whenever a SIP packet (aka "motor" packet) is received, this time is set to the receiption time minus the robot's reported internal odometry delay. The SIP provides robot position (see getPose()) and some other information (see robot manual for details).

Returns

the time the last SIP was received

getLastPacketTime()

ArTime ArRobot::getLastPacketTime

(

void

)

const

Gets the time the last packet was received.

Get the time at which the most recent packet of any type was received This timestamp is updated whenever any packet is received from the robot.

See also

getLastOdometryTime

Returns

the time the last packet was received

getLatAccel()

double ArRobot::getLatAccel

(

void

)

const

Gets the lateral acceleration.

Since

2.6.0

getLatDecel()

double ArRobot::getLatDecel

(

void

)

const

Gets the lateral acceleration.

Since

2.6.0

getLatVel()

double ArRobot::getLatVel ( void  ) const

inline

Gets the current lateral velocity of the robot.

Note that this will only be valid if hasLatVel() returns true

Since

2.6.0

getLatVelMax()

double ArRobot::getLatVelMax

(

void

)

const

Gets the maximum lateral velocity.

Since

2.6.0

getLCDMap() [1/2]

const std::map< int, ArLCDMTX * > * ArRobot::getLCDMap

(

void

)

const

Gets the lcd list (MTX robots only)

Since

2.7.0

See also

ArLCDConnector

getLCDMap() [2/2]

std::map< int, ArLCDMTX * > * ArRobot::getLCDMap

(

void

)

Gets the lcd list (MTX robots only)

Since

2.7.0

See also

ArLCDConnector

getLeftEncoder()

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.

getOdometerDegrees()

double ArRobot::getOdometerDegrees ( void  )

inline

This gets the total cumulative number of degrees the robot has turned (deg) This is a virtual odometer (by analogy with a car odometer) that measures the total linear distance the robot has travelled since ARIA connected, approximated by adding linear distance between current pose and previous pose in each ArRobot cycle.

Note

This value is not related to the robot's actual odometry sensor or wheel encoders. For position based on that plus possible additional correction, see getPose(). For raw encoder count data, see requestEncoderPackets() instead.

getOdometerDistance()

double ArRobot::getOdometerDistance ( void  )

inline

This gets the total cumulative distance the robot has travelled (mm) This is a virtual odometer (by analogy with a car odometer) that measures the total linear distance the robot has travelled since ARIA connected, approximated by adding linear distance between current pose and previous pose in each ArRobot cycle.

Note

This value is not related to the robot's actual odometry sensor or wheel encoders. For position based on that plus possible additional correction, see getPose(). For raw encoder count data, see requestEncoderPackets() instead.

getOdometryDelay()

int ArRobot::getOdometryDelay ( void  )

inline

Gets the delay in odometry readings.

This gets the odometry delay, not that this is just information about what the delay is it doesn't cause anything to happen in this class.

getOrigRobotConfig()

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

Examples:

demo.cpp.

getPose()

ArPose ArRobot::getPose ( void  ) const

inline

Get the current stored global position of the robot.

This position 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()).

This position is also referred to as the robot's "odometry" or "odometric" pose, since the robot uses its odometry data to determine this pose; but it may also incorporate additional data sources such as an onboard gyro. The term "odometric pose" also distinguishes this position by the fact that its coordinate system may be arbitrary, and seperate from any external coordinate system.

See also

getEncoderPose()

moveTo()

getPoseInterpPosition()

int ArRobot::getPoseInterpPosition ( ArTime  timeStamp, ArPose *  position, ArPoseWithTime *  mostRecent = NULL  )

inline

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

See also

ArInterpolation::getPose

getRangeDeviceList()

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

getRawEncoderPose()

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()

getRealBatteryVoltage()

double ArRobot::getRealBatteryVoltage ( void  ) const

inline

Gets the real battery voltage of the robot.

This value is averaged over a number of readings, use getRealBatteryVoltageNow() to get the value most recently received. (Access the number of readings used in the running average with getRealBatteryVoltageAverageOfNum() and setRealBatteryVoltageAverageOfNum().)

This is whatever the actual voltage of the robot is, if you want a value normalized to common 12 volts for all robot types use getBatteryVoltage().

If the robot doesn't support a "real" battery voltage, then this method will just return the normal battery voltage (normalized to 12 volt scale). (Most older robots that don't support a real battery voltage have 12 volts batteries anyway.)

getRealBatteryVoltageNow()

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 a common 12 volts for all robot types use getBatteryVoltage(). If the robot doesn't support this number the voltage will be less than 0 and you should use getBatteryVoltageNow().

getRightEncoder()

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.

getRobotParams()

const ArRobotParams * ArRobot::getRobotParams

(

void

)

const

Gets the parameters the robot is using.

Returns

the ArRobotParams instance the robot is using for its parameters

getRobotParamsInternal()

ArRobotParams * ArRobot::getRobotParamsInternal

(

void

)

Returns

the ArRobotParams instance the robot is using for its parameters

getRotVel()

double ArRobot::getRotVel ( void  ) const

inline

Gets the current rotational velocity of the robot.

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

Examples:

simpleMotionCommands.cpp.

getSonarMap() [1/2]

const std::map< int, ArSonarMTX * > * ArRobot::getSonarMap

(

void

)

const

Gets the sonar list (MTX robots only)

Since

2.7.0

See also

ArSonarConnector

getSonarMap() [2/2]

std::map< int, ArSonarMTX * > * ArRobot::getSonarMap

(

void

)

Gets the sonar list (MTX robots only)

Since

2.7.0

See also

ArSonarConnector

getSonarRange()

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

getSonarReading()

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

getStabilizingTime()

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).

getStallValue()

int ArRobot::getStallValue ( void  ) const

inline

Gets the 2 bytes of stall and bumper flags from the robot.

See robot operations manual SIP packet documentation for details.

See also

isLeftMotorStalled()

isRightMotorStalled()

getStateReflectionRefreshTime()

int ArRobot::getStateReflectionRefreshTime

(

void

)

const

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

The state reflection refresh time is the number of milliseconds between when the state reflector will refresh the robot, if the command hasn't changed.

The default is 500 milliseconds. If this number is less than the cyle time, it'll simply happen every cycle.

Returns

the state reflection refresh time

getSyncTaskRoot()

ArSyncTask * ArRobot::getSyncTaskRoot

(

void

)

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

This gets the root of the synchronous task tree, so that someone can add their own new types of tasks, or find out more information about each task...

only serious developers should use this.

Returns

the root of the sycnhronous task tree

See also

ArSyncTask

getTh()

double ArRobot::getTh ( void  ) const

inline

Gets the global angular position ("theta") of the robot.

See also

getPose()

Examples:

joydriveActionExample.cpp, simpleConnect.cpp, and simpleMotionCommands.cpp.

getToGlobalTransform()

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

getToLocalTransform()

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

getTripOdometerDegrees()

double ArRobot::getTripOdometerDegrees ( void  )

inline

This gets the number of degrees the robot has turned since the last time resetTripOdometer() was called (deg) This is a virtual odometer (by analogy with a car odometer) that measures the total linear distance the robot has travelled since first connected, or resetTripOdometer() was last called, approximated by adding linear distance between current pose and previous pose in each ArRobot cycle.

Note

This value is not related to the robot's actual odometry sensor or wheel encoders. For position based on that plus possible additional correction, see getPose(). For raw encoder count data, see requestEncoderPackets() instead.

See also

getTripOdometerDistance()

getTripOdometerDistance()

double ArRobot::getTripOdometerDistance ( void  )

inline

This gets the distance the robot has travelled since the last time resetTripOdometer() was called (mm) This is a virtual odometer that measures the total linear distance the robot has travelled since first connected, or resetTripOdometer() was called, approximated by adding linear distance between current pose and previous pose in each ArRobot cycle.

Note

This value is not related to the robot's actual odometry sensor or wheel encoders. For position based on that plus possible additional correction, see getPose(). For raw encoder count data, see requestEncoderPackets() instead.

getTripOdometerTime()

double ArRobot::getTripOdometerTime ( void  )

inline

This gets the time since the "Trip Odometer" was reset (sec)

See also

getTripOdometerDistance()

getX()

double ArRobot::getX ( void  ) const

inline

Gets the global X position of the robot.

See also

getPose()

Examples:

joydriveActionExample.cpp, simpleConnect.cpp, and simpleMotionCommands.cpp.

getY()

double ArRobot::getY ( void  ) const

inline

Gets the global Y position of the robot.

See also

getPose()

Examples:

joydriveActionExample.cpp, simpleConnect.cpp, and simpleMotionCommands.cpp.

hasBattery()

bool ArRobot::hasBattery

(

ArBatteryMTX *

device

)

const

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

Since

2.7.0

See also

ArBatteryConnector

hasLaser()

bool ArRobot::hasLaser

(

ArLaser *

device

)

const

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

Since

2.7.0

See also

ArLaserConnector

hasLatVel()

bool ArRobot::hasLatVel ( void  ) const

inline

Sees if the robot supports lateral velocities (e.g.

Seekur(TM))

Since

2.6.0

hasLCD()

bool ArRobot::hasLCD

(

ArLCDMTX *

device

)

const

Finds whether a particular lcd is attached to this robot or not (MTX robots only)

Since

2.7.0

See also

ArLCDConnector

hasRangeDevice()

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

hasSonar()

bool ArRobot::hasSonar

(

ArSonarMTX *

device

)

const

Finds whether a particular sonar is attached to this robot or not (MTX robots only)

Since

2.7.0

See also

ArSonarConnector

hasStateOfCHarge()

bool ArRobot::hasStateOfCHarge ( ) const

inline

Gets if the state of charge value is in use.

init()

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.

isConnected()

bool ArRobot::isConnected ( void  ) const

inline

Questions whether the robot is connected or not.

Returns

true if connected to a robot, false if not

Examples:

demo.cpp, laserConnect.cpp, and lasers.cpp.

isDirectMotion()

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

isHeadingDone()

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 used is that which was set with setHeadingDoneDiff() (you can get that distnace value with getHeadingDoneDiff(), the default is 3).

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).

Examples:

directMotionExample.cpp.

isMoveDone()

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

Examples:

directMotionExample.cpp.

isRunning()

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

isSonarNew()

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).

isTryingToMove()

bool ArRobot::isTryingToMove ( void  )

inline

Gets if the robot is trying to move or not.

"Trying" to move means that some action or other command has requested motion, but another action or factor has cancelled that request.

This is so that if the robot is trying to move, but is prevented (mainly by an action) there'll still be some indication that the robot is trying to move (e.g. we can prevent the sonar from automatically being turned off). Note that this flag doesn't have anything to do with if the robot is really moving or not, to check that, check the current velocities.

See also

forceTryingToMove() to force this state on

loadParamFile()

bool ArRobot::loadParamFile

(

const char *

file

)

Loads a parameter file (replacing all other params)

Returns

true if the file could be loaded, false otherwise

logAllTasks()

void ArRobot::logAllTasks

(

void

)

const

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

See also

ArLog

logUserTasks()

void ArRobot::logUserTasks

(

void

)

const

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

See also

ArLog

loopOnce()

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.

move()

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.

Examples:

directMotionExample.cpp.

moveTo() [1/2]

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

moveTo() [2/2]

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

packetHandlerNonThreaded()

void ArRobot::packetHandlerNonThreaded

(

void

)

Packet handler, internal, for use in the syncloop when there's no threading.

This is here for use if the robot is running without threading (some customers may use it that way, though we generally don't)

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

packetHandlerThreadedReader()

void ArRobot::packetHandlerThreadedReader

(

void

)

Packet handler, internal, for using from a thread to actually read all the packets.

This function gets called from the ArRobotPacketReaderThread, and does the actual reading of packets...

so that it their timing isn't affected by the rest of the sync loop

processMotorPacket()

bool ArRobot::processMotorPacket

(

ArRobotPacket *

packet

)

Processes a motor packet, internal.

MPL adding this so that each place the pose interpolation is used it doesn't have to account for the odometry delay

processNewSonar()

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.

remAction() [1/2]

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*)

remAction() [2/2]

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*)

remBattery() [1/2]

bool ArRobot::remBattery

(

ArBatteryMTX *

battery

)

Remove a battery from the robot's list, by instance (MTX robots only) Primarily for ARIA internal use only.

Since

2.7.0

remBattery() [2/2]

bool ArRobot::remBattery

(

int

batteryNumber

)

Remove a battery from the robot's list, by number (MTX robots only) Primarily for ARIA internal use only.

Since

2.7.0

remConnectCB()

void ArRobot::remConnectCB

(

ArFunctor *

functor

)

Removes a connect callback.

Parameters

functor

the functor to remove from the list of connect callbacks

See also

addConnectCB

remDisconnectNormallyCB()

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

remDisconnectOnErrorCB()

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

remFailedConnectCB()

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

remLaser() [1/2]

bool ArRobot::remLaser	(	ArLaser *	laser,
		bool	removeAsRangeDevice = true
	)

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

Since

2.7.0

remLaser() [2/2]

bool ArRobot::remLaser	(	int	laserNumber,
		bool	removeAsRangeDevice = true
	)

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

Since

2.7.0

remLCD() [1/2]

bool ArRobot::remLCD

(

ArLCDMTX *

lcd

)

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

Since

2.7.0

remLCD() [2/2]

bool ArRobot::remLCD

(

int

lcdNumber

)

Remove a lcd from the robot's list, by number.

Since

2.7.0

remPacketHandler()

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

remRangeDevice() [1/2]

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

remRangeDevice() [2/2]

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

remRunExitCB()

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

remSensorInterpTask() [1/2]

void ArRobot::remSensorInterpTask

(

const char *

name

)

Removes a sensor interp tasks by name.

See also

addSensorInterpTask

remSensorInterpTask(ArFunctor *functor)

remSensorInterpTask() [2/2]

void ArRobot::remSensorInterpTask

(

ArFunctor *

functor

)

Removes a sensor interp tasks by functor.

See also

addSensorInterpTask

remSensorInterpTask(std::string name)

remSonar() [1/2]

bool ArRobot::remSonar

(

ArSonarMTX *

sonar

)

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

Since

2.7.0

remSonar() [2/2]

bool ArRobot::remSonar

(

int

sonarNumber

)

Remove a sonar from the robot's list, by number.

Since

2.7.0

remStabilizingCB()

void ArRobot::remStabilizingCB

(

ArFunctor *

functor

)

Removes stabilizing callback.

Parameters

functor

the functor to remove from the list of stabilizing callbacks

See also

addConnectCB

remUserTask() [1/2]

void ArRobot::remUserTask

(

const char *

name

)

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

See also

addUserTask

remUserTask(ArFunctor *functor)

remUserTask() [2/2]

void ArRobot::remUserTask

(

ArFunctor *

functor

)

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

See also

addUserTask

remUserTask(std::string name)

requestEncoderPackets()

void ArRobot::requestEncoderPackets

(

void

)

Starts a continuous stream of encoder packets.

Encoder packet data is stored by ArRobot and can be read using getLeftEncoder() and getRightEncoder().

Encoder packets may be stopped with stopEncoderPackets().

Encoder packets are sent after the main SIP (motor packet) by ARCOS. If you want to handle encoder packets immediately upon reception, add a general robot packet handler to ArRobot with addPacketHandler(), and check the packet for the encoder packet ID 0x90. See addPacketHandler() for details on how to write a general packet handler.

requestIOPackets()

void ArRobot::requestIOPackets

(

void

)

Starts a continuous stream of IO packets.

See also

requestIOPackets()

resetTripOdometer()

void ArRobot::resetTripOdometer

(

void

)

Resets the "Trip Odometer".

See also

getTripOdometerDistance()

run()

void ArRobot::run	(	bool	stopRunIfNotConnected,
		bool	runNonThreaded = false
	)

Starts the instance to do processing in this thread.

This starts the ongoing main loop, which invokes robot tasks until stopped.

This function does not return until the loop is stopped by a call to stopRunning(), or if 'true' is given for stopRunIfNotConnected, and the robot connection is closed or fails.

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
runNonThreaded	if true, the robot won't make the usual thread that it makes for reading the packets...you generally shouldn't use this, but it's provided in case folks are using programs without threading

See also

stopRunning()

Examples:

actionExample.cpp, actionGroupExample.cpp, actsColorFollowingExample.cpp, auxSerialExample.cpp, gripperExample.cpp, gyroExample.cpp, joydriveActionExample.cpp, robotSyncTaskExample.cpp, and teleopActionsExample.cpp.

runAsync()

void ArRobot::runAsync	(	bool	stopRunIfNotConnected,
		bool	runNonThreadedPacketReader = false
	)

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 false then the thread will continue until stopRunning() is called.
runNonThreadedPacketReader	selects whether the packet reader object (receives and parses packets from the robot) should run in its own internal asychronous thread. Mostly for internal use.

See also

stopRunning()

waitForRunExit()

lock()

unlock()

Examples:

armExample.cpp, cameraPTZExample.cpp, demo.cpp, directMotionExample.cpp, dpptuExample.cpp, gotoActionExample.cpp, gpsExample.cpp, gpsRobotTaskExample.cpp, imuExample.cpp, laserConnect.cpp, lasers.cpp, lineFinderExample.cpp, moduleExample.cpp, mtxIO.cpp, mtxLCDDisplay.cpp, mtxPowerControl.cpp, mtxWheelLights.cpp, robotConnectionCallbacks.cpp, simpleConnect.cpp, simpleMotionCommands.cpp, triangleDriveToActionExample.cpp, and wander.cpp.

setAbsoluteMaxLatAccel()

bool ArRobot::setAbsoluteMaxLatAccel

(

double

maxAccel

)

Sets the robot's absolute maximum lateral acceleration.

This sets the absolute maximum lateral acceleration the robot will do...

the acceleration can also be set by the actions and by setLatAccel, 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 setLatAccel.

Parameters

maxAccel

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

Returns

true if the value is good, false othrewise

setAbsoluteMaxLatDecel()

bool ArRobot::setAbsoluteMaxLatDecel

(

double

maxDecel

)

Sets the robot's absolute maximum lateral deceleration.

This sets the absolute maximum lateral deceleration the robot will do...

the deceleration can also be set by the actions and by setLatDecel, 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 setLatDecel.

Parameters

maxDecel

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

Returns

true if the value is good, false othrewise

setAbsoluteMaxLatVel()

bool ArRobot::setAbsoluteMaxLatVel

(

double

maxLatVel

)

Sets the robot's absolute maximum lateral velocity.

This sets the absolute maximum lateral velocity the robot will go...

the maximum velocity can also be set by the actions and by setLatVelMax, 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 setLatVelMax.

Parameters

maxLatVel

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

Returns

true if the value is good, false othrewise

setAbsoluteMaxRotAccel()

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

setAbsoluteMaxRotDecel()

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

setAbsoluteMaxRotVel()

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

setAbsoluteMaxTransAccel()

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

setAbsoluteMaxTransDecel()

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

setAbsoluteMaxTransNegVel()

bool ArRobot::setAbsoluteMaxTransNegVel

(

double

maxNegVel

)

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 and is in -mm/sec (use negative values)

Returns

true if the value is good, false othrewise

setAbsoluteMaxTransVel()

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 and is in mm/sec

Returns

true if the value is good, false othrewise

Examples:

actsColorFollowingExample.cpp, and teleopActionsExample.cpp.

setConnectionCycleMultiplier()

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

setConnectionTimeoutTime()

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...

setCycleTime()

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

ms	the number of milliseconds between cycles

setCycleWarningTime()

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

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

setDeadReconPose()

void ArRobot::setDeadReconPose

(

ArPose

pose

)

Sets the dead recon position of the robot.

Parameters

pose	the position to set the dead recon position to

setDeltaHeading()

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

Examples:

directMotionExample.cpp.

setDeviceConnection()

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

setDirectMotionPrecedenceTime()

void ArRobot::setDirectMotionPrecedenceTime

(

int

mSec

)

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

The direct motion precedence time determines how long actions will be ignored after a direct motion command is given.

If the direct motion precedence time is 0, then direct motion will take precedence over actions until a clearDirectMotion command is issued. This value defaults to 0.

Parameters

mSec	the number of milliseconds direct movement should trump actions, if a negative number is given, then the value will be 0

See also

setDirectMotionPrecedenceTime

clearDirectMotion

setEncoderCorrectionCallback()

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

setEncoderTransform() [1/2]

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

Changes the transform.

This transform is applied to all odometric/encoder poses received.

If you simply want to transform the robot's final reported pose (as returned by getPose()) to match an external coordinate system, use moveTo() instead.

See also

moveTo()

Parameters

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

setEncoderTransform() [2/2]

void ArRobot::setEncoderTransform

(

ArPose

transformPos

)

Changes the transform directly.

This transform is applied to all odometric/encoder poses received.

If you simply want to transform the robot's final reported pose (as returned by getPose()) to match an external coordinate system, use moveTo() instead.

See also

moveTo()

Parameters

transformPos

the position to transform to

setHeading()

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:

directMotionExample.cpp, and gyroExample.cpp.

setLatAccel()

void ArRobot::setLatAccel

(

double

acc

)

Sets the lateral acceleration.

Since

2.6.0

setLatDecel()

void ArRobot::setLatDecel

(

double

decel

)

Sets the lateral acceleration.

Since

2.6.0

setLatVel()

void ArRobot::setLatVel

(

double

latVelocity

)

Sets the lateral velocity.

Sets the desired lateral (sideways on local Y axis) translational velocity of the robot.

See also

clearDirectMotion

ArRobot caches this value, and sends it with a LATVEL command during the next cycle. (Only has effect on robots that are capable of translating laterally, i.e. Seekur. Other robots will ignore the command.)

Parameters

latVelocity

the desired translational velocity of the robot (mm/sec)

setLatVelMax()

void ArRobot::setLatVelMax

(

double

vel

)

Sets the maximum lateral velocity.

Since

2.6.0

setOdometryDelay()

void ArRobot::setOdometryDelay ( int  msec )

inline

Sets the delay in the odometry readings.

Note that this doesn't cause a delay, its informational so that the delay can be adjusted for and causes nothing to happen in this class.

setRequireConfigPacket()

void ArRobot::setRequireConfigPacket ( bool  requireConfigPacket )

inline

Sets if a config packet is requried or not...

By default it is not required, since some ancient robots have no config packets... some of the modern software may die hideously if there is no config packet, so you should set this to true if you're using modern robots (basically anything other than a pioneer 1)

setRobotParams()

void ArRobot::setRobotParams

(

ArRobotParams *

params

)

Sets the robot to use a passed in set of params (passes ownership)

This function will take over ownership of the passed in params.

setRotVel()

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:

directMotionExample.cpp, gyroExample.cpp, and simpleMotionCommands.cpp.

setStabilizingTime()

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

setStateReflectionRefreshTime()

void ArRobot::setStateReflectionRefreshTime

(

int

mSec

)

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

The state reflection refresh time is the number of milliseconds between when the state reflector will refresh the robot, if the command hasn't changed.

The default is 500 milliseconds. If this number is less than the cyle time, it'll simply happen every cycle.

Parameters

mSec	the refresh time, in milliseconds, non-negative, if negative is given, then the value will be 0

setVel()

void ArRobot::setVel

(

double

velocity

)

Sets the velocity.

Sets the desired translational velocity of the robot.

See also

clearDirectMotion

ArRobot caches this value, and sends it with a VEL command during the next cycle.

Parameters

velocity

the desired translational velocity of the robot (mm/sec)

Examples:

directMotionExample.cpp, and simpleMotionCommands.cpp.

setVel2()

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

Examples:

directMotionExample.cpp.

stateReflector()

void ArRobot::stateReflector

(

void

)

State Reflector, internal.

MPL commenting out these lines, and making it so that if nothing is set it'll just stop

stop()

void ArRobot::stop

(

void

)

Stops the robot.

Stops the robot, by telling it to have a translational velocity and rotational velocity of 0.

See also

clearDirectMotion

Also note that if you are using actions, this will cause the actions to be ignored until the direct motion precedence timeout has been exceeded or clearDirectMotion is called.

See also

setDirectMotionPrecedenceTime

getDirectMotionPrecedenceTime

clearDirectMotion

Examples:

directMotionExample.cpp, and simpleMotionCommands.cpp.

stopEncoderPackets()

void ArRobot::stopEncoderPackets

(

void

)

Stops a continuous stream of encoder packets.

See also

requestEncoderPackets()

stopRunning()

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:

cameraPTZExample.cpp, robotConnectionCallbacks.cpp, simpleConnect.cpp, and simpleMotionCommands.cpp.

stopStateReflection()

void ArRobot::stopStateReflection

(

void

)

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

This stops the state reflection task from sending any motion commands to the robot (it still receives data from the robot, and it will still send the PULSE command).

See also

clearDirectMotion

If you later call clearDirectMotion(), then state reflection will be re-enabled, but the velocity values are reset to 0. Similarly, if you later use direct motion commands, state reflection for those commands will then become active and those commands will be sent each cycle; other commands will remain disabled. For example, if you call stopStateReflection(), then later use setTransVel(), then translation velocity commands will be re-enabled and used in state reflection, but rotational velocity will remain disabled until you call setRotVel(), or call clearDirectMotion().

waitForConnect()

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

waitForConnectOrConnFail()

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

waitForRunExit()

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:

cameraPTZExample.cpp, demo.cpp, dpptuExample.cpp, gpsRobotTaskExample.cpp, imuExample.cpp, lineFinderExample.cpp, mtxLCDDisplay.cpp, simpleConnect.cpp, simpleMotionCommands.cpp, triangleDriveToActionExample.cpp, and wander.cpp.

wakeAllConnOrFailWaitingThreads()

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

wakeAllConnWaitingThreads()

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

wakeAllRunExitWaitingThreads()

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

wakeAllWaitingThreads()

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

---

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

• ArRobot.h
• ArRobot.cpp