Passer::RoboidControl::Roboid Class Reference

A Roboid is used to control autonomous robots. More...

#include <Roboid.h>

Public Member Functions
	Roboid ()
	Default constructor for a Roboid.
	Roboid (Perception *perception, Propulsion *propulsion=nullptr)
	Creates a Roboid with Perception and Propulsion abilities.
	Roboid (Perception *perception, ServoMotor *actuationRoot)
	Roboid (ServoMotor *actuationRoot)
void	Update (float currentTimeMs)
	Update the state of the Roboid.
virtual Vector3	GetPosition ()
	Retrieve the current position of the roboid.
Vector2	GetPosition2D ()
virtual Quaternion	GetOrientation ()
	Retrieve the current orientation of the roboid.
float	GetOrientation2D ()
virtual void	SetPosition (Vector3 worldPosition)
	Update the current position of the roboid.
virtual void	SetOrientation (Quaternion worldOrientation)
	Update the current orientation of the roboid.
void	SetOrientation2D (float angle)

Public Attributes
Perception *	perception = nullptr
	The Perception module of this Roboid.
Propulsion *	propulsion = nullptr
	The Propulsion module of this Roboid.
ServoMotor *	actuationRoot = nullptr
NetworkSync *	networkSync = nullptr
	The reference to the module to synchronize states across a network.

Detailed Description

A Roboid is used to control autonomous robots.

Constructor & Destructor Documentation

Roboid() [1/4]

Roboid::Roboid

(

)

Default constructor for a Roboid.

Roboid() [2/4]

Roboid::Roboid	(	Perception *	perception,
		Propulsion *	propulsion = nullptr
	)

Creates a Roboid with Perception and Propulsion abilities.

Parameters

perception	The Perception implementation to use for this Roboid
propulsion	The Propulsion implementation to use for this Roboid

Roboid() [3/4]

Roboid::Roboid	(	Perception *	perception,
		ServoMotor *	actuationRoot
	)

Roboid() [4/4]

Roboid::Roboid

(

ServoMotor *

actuationRoot

)

Member Function Documentation

Update()

void Roboid::Update

(

float

currentTimeMs

)

Update the state of the Roboid.

Parameters

currentTimeMs

The time in milliseconds when calling this function

GetPosition()

Vector3 Roboid::GetPosition ( )

virtual

Retrieve the current position of the roboid.

Returns

The position in carthesian coordinates in world space

The origin and units of the position depends on the position tracking system used. This value will be Vector3::zero unless a position is received through network synchronisation

GetPosition2D()

Vector2 Roboid::GetPosition2D

(

)

GetOrientation()

Quaternion Roboid::GetOrientation ( )

virtual

Retrieve the current orientation of the roboid.

Returns

The orientation quaternion in world space

The origin orientation depends on the position tracking system used. This value will be Quaternion::identity unless an orientation is received though network synchronization

GetOrientation2D()

float Roboid::GetOrientation2D

(

)

SetPosition()

void Roboid::SetPosition ( Vector3  worldPosition )

virtual

Update the current position of the roboid.

Parameters

worldPosition

The position of the roboid in carthesian coordinates in world space

The use of this function will also update the positions and orientations of the perceived objects by the roboid (roboid->perception->perceivedObjects), as these are local to the roboid's position.

SetOrientation()

void Roboid::SetOrientation ( Quaternion  worldOrientation )

virtual

Update the current orientation of the roboid.

Parameters

worldOrientation

The orientation of the roboid in world space

The use of this function will also update the orientations of the perceived objects by the roboid (roboid->perception->perceivedObjets), as these are local to the roboid' orientation.

SetOrientation2D()

void Roboid::SetOrientation2D

(

float

angle

)

Member Data Documentation

perception

Perception* Passer::RoboidControl::Roboid::perception = nullptr

The Perception module of this Roboid.

propulsion

Propulsion* Passer::RoboidControl::Roboid::propulsion = nullptr

The Propulsion module of this Roboid.

actuationRoot

ServoMotor* Passer::RoboidControl::Roboid::actuationRoot = nullptr

networkSync

NetworkSync* Passer::RoboidControl::Roboid::networkSync = nullptr

The reference to the module to synchronize states across a network.

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

• d:/PlatformIO/RoboidControl/Roboid.h
• d:/PlatformIO/RoboidControl/Roboid.cpp