ArTCMCompassRobot Class Reference
#include <ArTCMCompassRobot.h>
Inherits ArTCM2.
Public Member Functions | |
| ArTCMCompassRobot (ArRobot *robot) | |
| virtual void | commandAutoCalibration (void) |
| virtual void | commandContinuousPackets (void) |
| virtual void | commandJustCompass (void) |
| virtual void | commandOff (void) |
| virtual void | commandOnePacket (void) |
| virtual void | commandSoftReset (void) |
| virtual void | commandStopCalibration (void) |
| virtual void | commandUserCalibration (void) |
 Public Member Functions inherited from ArTCM2 | |
| void | addHeadingDataCallback (ArFunctor1< double > *f) |
| virtual bool | blockingConnect (unsigned long connectTimeout=5000) |
| virtual bool | connect () |
| double | getCalibrationH (void) const |
| Get the calibration H score (See TCM Manual) | |
| double | getCalibrationM (void) const |
| Get the calibration M score (See TCM Manual) | |
| double | getCalibrationV (void) const |
| Get the calibration V score (See TCM Manual) | |
| double | getCompass (void) const |
| int | getError (void) const |
| double | getHeading (void) const |
| Get the compass heading (-180, 180] degrees. | |
| int | getPacCount (void) |
| Gets the number of readings recieved in the last second. | |
| double | getPitch (void) const |
| Get the pitch (-180,180] degrees. | |
| double | getRoll (void) const |
| Get the roll (-180,180] degrees. | |
| double | getTemperature (void) const |
| Get the temperature (degrees C) | |
| double | getXMagnetic (void) const |
| Get the magnetic field X component (See TCM2 Manual) | |
| double | getYMagnetic (void) const |
| Get the magnetic field Y component (See TCM2 Manual) | |
| double | getZMagnetic (void) const |
| Get the magnetic field Z component (See TCM2 Manual) | |
| bool | haveCalibrationH () const |
| bool | haveCalibrationM () const |
| bool | haveCalibrationV () const |
| bool | haveHeading () const |
| bool | havePitch () const |
| bool | haveRoll () const |
| bool | haveTemperature () const |
| bool | haveXMagnetic () const |
| bool | haveYMagnetic () const |
| bool | haveZMagnetic () const |
Additional Inherited Members | |
| Protected Member Functions inherited from ArTCM2 | |
| void | incrementPacketCount () |
| void | invokeHeadingDataCallbacks (double heading) |
| Protected Attributes inherited from ArTCM2 | |
| double | myCalibrationH |
| double | myCalibrationM |
| double | myCalibrationV |
| int | myError |
| bool | myHaveCalibrationH |
| bool | myHaveCalibrationM |
| bool | myHaveCalibrationV |
| bool | myHaveHeading |
| bool | myHavePitch |
| bool | myHaveRoll |
| bool | myHaveTemperature |
| bool | myHaveXMag |
| bool | myHaveYMag |
| bool | myHaveZMag |
| double | myHeading |
| std::list< ArFunctor1< double > * > | myHeadingDataCallbacks |
| int | myPacCount |
| int | myPacCurrentCount |
| double | myPitch |
| double | myRoll |
| double | myTemperature |
| time_t | myTimeLastPacket |
| double | myXMag |
| double | myYMag |
| double | myZMag |
Detailed Description
Interface to a TCM 2/2.5/2.6 3-axis compass through the robot microcontroller. When most Pioneer robots are equipped with a TCM compass, it is connected to the robot microcontroller, which returns compass information in the SIP as well as in extra compass-specific data packets. This class communicates with the robot microcontroller to configure the compass and recieve data from it.
The documentation for this class was generated from the following files:
- ArTCMCompassRobot.h
- ArTCMCompassRobot.cpp
