Stores parameters read from the robot's parameter files. More...

#include <ArRobotParams.h>

Public Member Functions
	ArRobotParams ()
	Constructor.

int	getAbsoluteMaxLatVelocity (void) const
	Returns the max lateral velocity of the robot.

int	getAbsoluteMaxRotVelocity (void) const
	Returns the max rotational velocity of the robot.

int	getAbsoluteMaxVelocity (void) const
	Returns the max velocity of the robot.

double	getAngleConvFactor (void) const
	Returns the angle conversion factor.

const char *	getClassName (void) const
	Returns the class from the parameter file.

const char *	getCompassPort () const

const char *	getCompassType () const

bool	getConnectLaser (int laserNumber=1) const
	If the laser should be auto connected.

double	getDiffConvFactor (void) const
	Returns the wheel velocity difference to angular velocity conv factor.

double	getDistConvFactor (void) const
	Returns the distance conversion factor.

int	getGPSBaud () const
	The Baud rate to use when connecting to the GPS.

const char *	getGPSPort () const
	The serial port the GPS is on.

const char *	getGPSType () const

int	getGPSX () const
	The X (forward-back) location of the GPS (antenna) on the robot.

int	getGPSY () const
	The Y (left-right) location of the GPS (antenna) on the robot.

double	getGyroScaler (void) const
	Returns the multiplier for the Analog Gyro.

int	getIRCycles (int number) const

int	getIRType (int number) const

int	getIRX (int number) const
	Returns the X location of the given numbered IR.

int	getIRY (int number) const
	Returns the Y location of the given numbered IR.

const char *	getLaserAutoBaudChoice (int laserNumber=1) const
	Gets the string that is choice for auto baud the laser should use.

int	getLaserCumulativeBufferSize (int laserNumber=1) const
	The cumulative buffer size to use for the laser.

const char *	getLaserDegreesChoice (int laserNumber=1) const
	Gets the string that is choice for the number of degrees the laser should use.

const char *	getLaserEndDegrees (int laserNumber=1) const
	Gets the string that is the degrees the laser should end on.

bool	getLaserFlipped (int laserNumber=1) const
	If the laser is flipped on the robot.

const char *	getLaserIgnore (int laserNumber=1) const
	Gets the string that is the readings the laser should ignore.

const char *	getLaserIncrement (int laserNumber=1) const
	Gets the string that is choice for the increment the laser should use.

const char *	getLaserIncrementChoice (int laserNumber=1) const
	Gets the string that is choice for increment the laser should use.

int	getLaserMaxRange (int laserNumber=1) const
	The max range to use the laser.

const char *	getLaserPort (int laserNumber=1) const
	What port the laser is on.

const char *	getLaserPortType (int laserNumber=1) const
	What type of port the laser is on.

bool	getLaserPossessed (void) const
	Returns if the robot has a laser (according to param file) More...

bool	getLaserPowerControlled (int laserNumber=1) const
	If the laser power is controlled by the serial port lines.

const char *	getLaserReflectorBitsChoice (int laserNumber=1) const
	Gets the string that is choice for reflectorBits the laser should use.

const char *	getLaserStartDegrees (int laserNumber=1) const
	Gets the string that is the degrees the laser should start on.

const char *	getLaserStartingBaudChoice (int laserNumber=1) const
	Gets the string that is choice for starting baud the laser should use.

double	getLaserTh (int laserNumber=1) const
	The rotation of the laser on the robot.

const char *	getLaserType (int laserNumber=1) const
	What type of laser this is.

const char *	getLaserUnitsChoice (int laserNumber=1) const
	Gets the string that is choice for units the laser should use.

int	getLaserX (int laserNumber=1) const
	The X location of the laser.

int	getLaserY (int laserNumber=1) const
	The Y location of the laser.

int	getLaserZ (int laserNumber=1) const
	The height of the laser off of the ground (0 means unknown)

int	getLatAccel (void) const
	Gets the lat accel from param file (0 uses microcontroller param)

int	getLatDecel (void) const
	Gets the lat decel from param file (0 uses microcontroller param)

int	getLatVelMax (void) const
	Gets the max lat vel from param file (0 uses microcontroller param)

int	getNumIR (void) const
	Returns the number of IRs.

int	getNumSonar (void) const
	Returns the number of sonar.

double	getRangeConvFactor (void) const
	Returns the sonar range conversion factor.

bool	getRequestEncoderPackets (void) const
	Returns true if encoder packets are automatically requested upon connection to the robot.

bool	getRequestIOPackets (void) const
	Returns true if IO packets are automatically requested upon connection to the robot.

double	getRobotDiagonal (void) const
	Returns the robot diagonal (half-height to diagonal of octagon)

double	getRobotLength (void) const
	Returns the robot's length.

double	getRobotLengthFront (void) const
	Returns the robot's length to the front of the robot.

double	getRobotLengthRear (void) const
	Returns the robot's length to the rear of the robot.

double	getRobotRadius (void) const
	Returns the robot's radius.

double	getRobotWidth (void) const
	Returns the robot's width.

int	getRotAccel (void) const
	Gets the rot accel from param file (0 uses microcontroller param)

int	getRotDecel (void) const
	Gets the rot decel from param file (0 uses microcontroller param)

int	getRotVelMax (void) const
	Gets the max rot vel from param file (0 uses microcontroller param)

int	getSonarTh (int number) const
	Returns the heading of the given numbered sonar disc.

int	getSonarX (int number) const
	Returns the X location of the given numbered sonar disc.

int	getSonarY (int number) const
	Returns the Y location of the given numbered sonar disc.

const char *	getSubClassName (void) const
	Returns the subclass from the parameter file.

int	getSwitchToBaudRate (void) const
	Returns the baud rate set in the param to talk to the robot at.

int	getTransAccel (void) const
	Gets the trans accel from param file (0 uses microcontroller param)

int	getTransDecel (void) const
	Gets the trans decel from param file (0 uses microcontroller param)

int	getTransVelMax (void) const
	Gets the max trans vel from param file (0 uses microcontroller param)

double	getVel2Divisor (void) const
	Returns the multiplier for VEL2 commands.

double	getVelConvFactor (void) const
	Returns the velocity conversion factor.

bool	hasLatVel (void) const
	Whether we have lateral control or not.

bool	hasMoveCommand (void) const
	Returns if the robot has a built in move command.

bool	hasSettableAccsDecs (void) const
	Whether the accelerations and decelerations are settable or not.

bool	hasSettableVelMaxes (void) const
	Gets whether the VelMax values are settable or not.

bool	haveFrontBumpers (void) const
	Returns true if the robot has front bumpers.

bool	haveIR (int number) const
	Returns if the IR of the given number is valid.

bool	haveNewTableSensingIR (void) const
	Returns true if the robot's table sensing IR bits are sent in the 4th-byte of the IO packet.

bool	haveRearBumpers (void) const
	Returns true if the robot has rear bumpers.

bool	haveSonar (int number) const
	Returns if the sonar of the given number is valid.

bool	haveTableSensingIR (void) const
	Returns true if the robot has table sensing IR.

bool	isHolonomic (void) const
	Returns whether the robot is holonomic or not.

int	numFrontBumpers (void) const
	Returns the number of front bumpers.

int	numRearBumpers (void) const
	Returns the number of rear bumpers.

bool	save (void)
	Saves it to the subtype.p in Aria::getDirectory/params.

virtual	~ArRobotParams ()
	Destructor.

Public Member Functions inherited from ArConfig
bool	addComment (const char comment, const char sectionName="", ArPriority::Priority priority=ArPriority::NORMAL)
	Command to add a new comment to the given section with given priority. More...

bool	addParam (const ArConfigArg &arg, const char sectionName="", ArPriority::Priority priority=ArPriority::NORMAL, const char displayHint=NULL)
	Command to add a parameter to the given section with given priority. More...

void	addProcessFileCB (ArRetFunctor< bool > *functor, int priority=0)

void	addProcessFileCB (ArRetFunctor2< bool, char , size_t > functor, int priority=0)

void	addProcessFileWithErrorCB (ArRetFunctor2< bool, char , size_t > functor, int priority=0)

bool	addSectionFlags (const char sectionName, const char flags)
	adds a flag to a section More...

	ArConfig (const char *baseDirectory=NULL, bool noBlanksBetweenParams=false, bool ignoreBounds=false, bool failOnBadSection=false, bool saveUnknown=true)
	Constructor. More...

	ArConfig (const ArConfig &config)
	Copy constructor.

bool	callProcessFileCallBacks (bool continueOnError, char *errorBuffer=NULL, size_t errorBufferLen=0)
	Call the processFileCBs.

void	clearAll (void)
	Clears out all the section information and the processFileCBs.

void	clearAllValueSet (void)
	calls clearValueSet on the whole config (internal for default configs)

void	clearSections (void)
	Clears out all the section information.

ArConfigSection *	findSection (const char *sectionName) const

const char *	getBaseDirectory (void) const
	Get the base directory.

const char *	getFileName (void) const
	Get the file name we loaded.

bool	getNoBlanksBetweenParams (void)
	Get whether we have blanks between the params or not.

ArLog::LogLevel	getProcessFileCallbacksLogLevel (void)
	Get the log level used when loading or reloading the configuration.

bool	getSaveUnknown (void)
	Gets whether we save unknowns (if we don't save 'em we ignore 'em)

std::list< ArConfigSection * > *	getSections (void)
	Get the sections themselves (use only if you know what to do)

void	log (bool isSummary=true)

ArConfig &	operator= (const ArConfig &config)

bool	parseArgument (ArArgumentBuilder arg, char errorBuffer=NULL, size_t errorBufferLen=0)
	This parses the argument given (for parser or other use) More...

bool	parseArgumentParser (ArArgumentParser parser, bool continueOnError=false, char errorBuffer=NULL, size_t errorBufferLen=0)
	Use an argument parser to change the config.

bool	parseFile (const char fileName, bool continueOnError=false, bool noFileNotFoundMessage=false, char errorBuffer=NULL, size_t errorBufferLen=0, std::list< std::string > *sectionsToParse=NULL)
	Parse a config file. More...

bool	parseSection (ArArgumentBuilder arg, char errorBuffer=NULL, size_t errorBufferLen=0)
	This parses the section change (for parser or other use) More...

bool	parseUnknown (ArArgumentBuilder arg, char errorBuffer=NULL, size_t errorBufferLen=0)
	This parses an unknown argument (so we can save it) More...

virtual bool	processFile (void)
	for inheritors this is called after the file is processed More...

void	removeAllUnsetValues (void)
	Removes all unset values from the config (internal for default configs)

void	remProcessFileCB (ArRetFunctor< bool > *functor)
	Removes a processedFile callback. More...

void	remProcessFileCB (ArRetFunctor2< bool, char , size_t > functor)
	Removes a processedFile callback. More...

bool	remSectionFlag (const char sectionName, const char flag)
	Removes a flag from a section. More...

void	setBaseDirectory (const char *baseDirectory)
	Set the base directory.

virtual void	setConfigName (const char configName, const char robotName=NULL)
	Stores an optional config and robot name to be used in log messages. More...

void	setNoBlanksBetweenParams (bool noBlanksBetweenParams)
	Set whether we have blanks between the params or not.

void	setProcessFileCallbacksLogLevel (ArLog::LogLevel level)
	Set the log level used when loading or reloading the configuration.

virtual void	setQuiet (bool isQuiet)
	Turn on this flag to reduce the number of verbose log messages.

void	setSaveUnknown (bool saveUnknown)
	Sets whether we save unknown items (if we don't save 'em we ignore 'em)

void	setSectionComment (const char sectionName, const char comment)
	Sets the comment for a section. More...

void	useArgumentParser (ArArgumentParser *parser)
	Uses this argument parser after it parses a file before it processes. More...

bool	writeFile (const char fileName, bool append=false, std::set< std::string > alreadyWritten=NULL, bool writePriorities=false, std::list< std::string > *sectionsToWrite=NULL)
	Write out a config file. More...

virtual	~ArConfig ()
	Destructor.

Protected Types
enum	IRInfo { IR_X, IR_Y, IR_TYPE, IR_CYCLES }

enum	SonarInfo { SONAR_X, SONAR_Y, SONAR_TH }

Protected Member Functions
const std::list < ArArgumentBuilder * > *	getIRUnits (void)

const LaserData *	getLaserData (int laserNumber) const

LaserData *	getLaserData (int laserNumber)

const std::list < ArArgumentBuilder * > *	getSonarUnits (void)

void	internalSetIR (int num, int type, int cycles, int x, int y)

void	internalSetSonar (int num, int x, int y, int th)

bool	parseIRUnit (ArArgumentBuilder *builder)

bool	parseSonarUnit (ArArgumentBuilder *builder)

Protected Member Functions inherited from ArConfig
void	addParserHandlers (void)

void	copySectionsToParse (std::list< std::string > *from)

void	writeSection (ArConfigSection section, FILE file, std::set< std::string > *alreadyWritten, bool writePriorities)
	Write out a section. More...

Protected Attributes
int	myAbsoluteMaxLatVelocity

int	myAbsoluteMaxRVelocity

int	myAbsoluteMaxVelocity

double	myAngleConvFactor

char	myClass [1024]

char	myCompassPort [256]

char	myCompassType [256]

double	myDiffConvFactor

double	myDistConvFactor

bool	myFrontBumpers

std::list< ArArgumentBuilder * >	myGetIRUnitList

std::list< ArArgumentBuilder * >	myGetSonarUnitList

int	myGPSBaud

char	myGPSPort [256]

bool	myGPSPossessed

char	myGPSType [256]

int	myGPSX

int	myGPSY

double	myGyroScaler

bool	myHasLatVel

bool	myHaveMoveCommand

bool	myHolonomic

std::map< int, std::map< int, int > >	myIRMap

ArRetFunctorC< const std::list < ArArgumentBuilder * > *, ArRobotParams >	myIRUnitGetFunctor

ArRetFunctor1C< bool, ArRobotParams, ArArgumentBuilder * >	myIRUnitSetFunctor

std::map< int, LaserData * >	myLasers

int	myLatAccel

int	myLatDecel

int	myLatVelMax

bool	myNewTableSensingIR

int	myNumFrontBumpers

int	myNumIR

int	myNumRearBumpers

int	myNumSonar

double	myRangeConvFactor

bool	myRearBumpers

bool	myRequestEncoderPackets

bool	myRequestIOPackets

double	myRobotDiagonal

double	myRobotLength

double	myRobotLengthFront

double	myRobotLengthRear

double	myRobotRadius

double	myRobotWidth

int	myRotAccel

int	myRotDecel

int	myRotVelMax

bool	mySettableAccsDecs

bool	mySettableVelMaxes

std::map< int, std::map< int, int > >	mySonarMap

ArRetFunctorC< const std::list < ArArgumentBuilder * > *, ArRobotParams >	mySonarUnitGetFunctor

ArRetFunctor1C< bool, ArRobotParams, ArArgumentBuilder * >	mySonarUnitSetFunctor

char	mySubClass [1024]

int	mySwitchToBaudRate

bool	myTableSensingIR

int	myTransAccel

int	myTransDecel

int	myTransVelMax

double	myVel2Divisor

double	myVelConvFactor

Protected Attributes inherited from ArConfig
ArArgumentParser *	myArgumentParser

std::string	myBaseDirectory

std::string	myConfigName
	Optional name of the config instance.

bool	myDuplicateParams

bool	myFailOnBadSection

std::string	myFileName

bool	myIgnoreBounds

bool	myIsQuiet

std::string	myLogPrefix
	Prefix to be inserted in log messages (contains the robot and config names).

bool	myNoBlanksBetweenParams

ArFileParser	myParser

ArRetFunctor3C< bool, ArConfig, ArArgumentBuilder , char , size_t >	myParserCB

ArLog::LogLevel	myProcessFileCallbacksLogLevel

std::multimap< int, ProcessFileCBType * >	myProcessFileCBList

std::string	myRobotName
	Optional name of the robot with which the config is associated.

bool	mySaveUnknown

std::string	mySection

bool	mySectionBroken

ArRetFunctor3C< bool, ArConfig, ArArgumentBuilder , char , size_t >	mySectionCB

bool	mySectionIgnored

std::list< ArConfigSection * >	mySections

std::list< std::string > *	mySectionsToParse

ArRetFunctor3C< bool, ArConfig, ArArgumentBuilder , char , size_t >	myUnknownCB

bool	myUsingSections

Detailed Description

Stores parameters read from the robot's parameter files.

Use ArRobot::getRobotParams() after a successful robot connection to obtain a pointer to an ArRobotParams instance containing the values read from the files.

See Robot Parameter Files for a description of the robot parameter files.

ArRobotParams is a subclass of ArConfig which contains some useful methods and features.

Member Function Documentation

bool ArRobotParams::getLaserPossessed ( void ) const

inline

Returns if the robot has a laser (according to param file)

Deprecated:

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

ArRobotParams.h
ArRobotParams.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation