#include <ArACTS.h>
Public Types | |
| enum | ActsConstants { NUM_CHANNELS = 32, MAX_BLOBS = 10, ACTS_BLOB_DATA_SIZE = 16, DATA_HEADER = NUM_CHANNELS * 4, MAX_DATA = 5300 } |
Public Member Functions | |
| void | actsHandler (void) |
| A function that reads information from acts and requests packets. | |
| ArACTS_1_2 () | |
| Constructor. | |
| bool | closePort (void) |
| Closes the connection. | |
| bool | getBlob (int channel, int blobNumber, ArACTSBlob *blob) |
| Gets the given blob from the given channel. | |
| int | getNumBlobs (int channel) |
| Gets the number of blobs for the given chanel. | |
| ArRobot * | getRobot (void) |
| Gets the robot this class is connected to. | |
| void | invert (int width=160, int height=120) |
| This will make the image stats inverted (for use with an inverted camera). | |
| bool | isConnected (void) |
| Finds out whether there is connection. | |
| bool | openPort (ArRobot *robot, const char *host="localhost", int port=5001) |
| Opens the connection to ACTS. | |
| bool | receiveBlobInfo (void) |
| Gets the blob information from the connection to acts. | |
| bool | requestPacket (void) |
| Requests another packet. | |
| bool | requestQuit (void) |
| Requests that ACTS quits. | |
| void | setRobot (ArRobot *robot) |
| Sets the robot this class is connected to. | |
| virtual | ~ArACTS_1_2 () |
| Destructor. | |
Protected Member Functions | |
| int | getData (char *rawData) |
| an iternal function to strip out the information from some bytes | |
| int | invertX (int before) |
| int | invertY (int before) |
Protected Attributes | |
| int | myBlobIndex [NUM_CHANNELS] |
| int | myBlobNum [NUM_CHANNELS] |
| bool | myBlobsBad |
| ArTcpConnection | myConn |
| char | myData [MAX_DATA] |
| int | myHeight |
| bool | myInverted |
| bool | myRequested |
| ArRobot * | myRobot |
| ArFunctorC< ArACTS_1_2 > | mySensorTaskCB |
| int | myWidth |
1.5.1