Aria  2.8.0

Shows how to add a task callback to ArRobot's synchronization/processing cycleA sensor interpretation task callback is invoked by the ArRobot object every cycle as it runs, which records the robot's current pose and velocity.

Note that tasks must take a small amount of time to execute, to avoid delaying the robot cycle.

Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
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it under the terms of the GNU General Public License as published by
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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#include "Aria.h"
class PrintingTask
// Constructor. Adds our 'user task' to the given robot object.
PrintingTask(ArRobot *robot);
// Destructor. Removes our user task from the robot
// This method will be called by the callback functor
void doTask(void);
ArRobot *myRobot;
// The functor to add to the robot for our 'user task'.
// the constructor (note how it uses chaining to initialize myTaskCB)
PrintingTask::PrintingTask(ArRobot *robot) :
myTaskCB(this, &PrintingTask::doTask)
myRobot = robot;
// just add it to the robot
myRobot->addSensorInterpTask("PrintingTask", 50, &myTaskCB);
void PrintingTask::doTask(void)
// print out some info about the robot
printf("\rx %6.1f y %6.1f th %6.1f vel %7.1f mpacs %3d", myRobot->getX(),
myRobot->getY(), myRobot->getTh(), myRobot->getVel(),
// Need sensor readings? Try myRobot->getRangeDevices() to get all
// range devices, then for each device in the list, call lockDevice(),
// getCurrentBuffer() to get a list of recent sensor reading positions, then
// unlockDevice().
int main(int argc, char** argv)
// the connection
ArSimpleConnector con(&argc, argv);
return 1;
// robot
ArRobot robot;
// sonar array range device
// This object encapsulates the task we want to do every cycle.
// Upon creation, it puts a callback functor in the ArRobot object
// as a 'user task'.
PrintingTask pt(&robot);
// initialize aria
// add the sonar object to the robot
// open the connection to the robot; if this fails exit
printf("Could not connect to the robot.\n");
return 2;
printf("Connected to the robot. (Press Ctrl-C to exit)\n");
// Start the robot process cycle running. Each cycle, it calls the robot's
// tasks. When the PrintingTask was created above, it added a new
// task to the robot. 'true' means that if the robot connection
// is lost, then ArRobot's processing cycle ends and this call returns.;
printf("Disconnected. Goodbye.\n");
return 0;