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Public Member Functions |
| | Robot (const char *robotName, unsigned int precedenceBase, ArFunctor2< ArNetPacket *, ArCentralForwarder * > *multiRobotToServerCB, ArFunctor2< ArNetPacket *, ArCentralForwarder * > *multiRobotInfoCB) |
| | - Parameters:
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| robotName | the robot's unique name |
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virtual | ~Robot () |
| | Destructor.
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const char * | getRobotName (void) |
| | Gets the robot's name.
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long | getPrecedence (void) |
| | Gets the robot's precedence.
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int | getPrecedenceClass (void) |
| | Gets the robot's precedence class.
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long | getPrecedenceBase (void) |
| | Gets the robot's precedence base.
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bool | isDataGood (void) |
| | Checks all the things and just tells us if we want to use this robot or not.
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bool | haveThAndVel (void) |
| | Checks if we have th and vel.
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ArPose | getPose (void) |
| | Gets our current pose.
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double | getX (void) |
| | Gets our x.
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double | getY (void) |
| | Gets our y.
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double | getTh (void) |
| | Gets our th.
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const char * | getMapName (void) |
| | Gets our map.
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std::list< ArPose > * | getPath (void) |
| | Gets the pointer to our path.
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int | getShortPathNumPoints (void) |
| | Gets the number of points in the short path.
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int | getVel (void) |
| | Gets out velocity.
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int | getRobotRadius (void) |
| | Gets the robot's adjusted radius.
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int | getRealRobotRadius (void) |
| | Gets the robot's real radius.
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int | getPathRadius (void) |
| | Gets the robot's path radius.
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unsigned char | getFlags1 (void) |
| | Gets the flags.
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unsigned char | getCapabilityFlags1 (void) |
| | Gets the capability flags.
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ArTime | getStartedWaitingToFail (void) |
| | Gets when we started waiting to fail.
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std::list< ArPose > * | getStraightPathPoints (void) |
| | Gets the pointer to the straight part of our path.
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ArLineSegment | getStraightPathLine (void) |
| | Gets the possibly extended straight path line segment.
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std::list< ArPose > * | getNonStraightPathPoints (void) |
| | Gets the pointer to the non straight part of our path.
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bool | hasNewPath (void) |
| | sees if we have a new path
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void | avoidRobot (Robot *otherRobot, bool logMore) |
| | Has this robot avoid the other robot.
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bool | isAvoidingRobot (Robot *otherRobot) |
| | Sees if this robot is avoiding the other robot.
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void | clearRobot (Robot *otherRobot) |
| | Makes this robot no longer avoid the other robot.
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std::set< Robot * > * | getAvoidingRobots (void) |
| | Gets the avoiding robot.
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void | setData (ArNetPacket *packet, int straightPathPointWidth, int straightPathLengthAddition, int pathCheckPadding) |
| | Sets the data from the frequent packet.
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void | setInfo (ArNetPacket *packet) |
| | sets the data from the occasional
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