Detailed Description

A thing is the primitive building block.

#include <Thing.h>

Inheritance diagram for RoboidControl::Thing:

Classes
struct	Type
	Predefined thing types. More...

Public Member Functions
	Thing (Thing *parent=LocalRoot())
	Create a new Thing.

	~Thing ()
	Destructor for a Thing.

void	SetName (const char *name)

const char *	GetName () const

void	SetModel (const char *url)
	Sets the location from where the 3D model of this Thing can be loaded from.

void	SetParent (Thing *parent)
	Sets the parent of this Thing.

Thing *	GetParent ()
	Gets the parent of this Thing.

bool	IsRoot () const
	Check if this is a root thing.

Thing *	GetChildByIndex (unsigned char ix)
	Get a child by index.

virtual void	AddChild (Thing *child)
	Add a child Thing to this Thing.

Thing *	RemoveChild (Thing *child)
	Remove the given thing as a child of this thing.

Thing *	GetChild (unsigned char id, bool recurse=false)
	Get a child by thing Id.

Thing *	FindChild (const char *name, bool recurse=true)
	Find a thing by name.

void	SetPosition (Spherical position)
	Set the position of the thing.

Spherical	GetPosition ()
	Get the position of the thing.

void	SetOrientation (SwingTwist orientation)
	Set the orientation of the thing.

SwingTwist	GetOrientation ()
	Get the orientation of the thing.

void	SetLinearVelocity (Spherical linearVelocity)
	Set the linear velocity of the thing.

virtual Spherical	GetLinearVelocity ()
	Get the linear velocity of the thing.

virtual void	SetAngularVelocity (Spherical angularVelocity)
	Set the angular velocity of the thing.

virtual Spherical	GetAngularVelocity ()
	Get the angular velocity of the thing.

virtual void	PrepareForUpdate ()

virtual void	Update (bool recurse=false)
	Updates the state of the thing.

virtual int	GenerateBinary (char buffer, unsigned char ix)
	Function used to generate binary data for this thing.

virtual void	ProcessBinary (char *bytes)
	Function used to process binary data received for this thing.

Static Public Member Functions
static void	CreateRoot (Participant *owner)
	Create a root thing for a participant.

static Thing *	LocalRoot ()
	The root thing for the local participant.

static unsigned long	GetTimeMs ()
	Get the current time in milliseconds.

Public Attributes
bool	terminate = false
	Terminated things are no longer updated.

unsigned char	id = 0
	The ID of the thing.

unsigned char	type = Type::Undetermined
	The type of Thing This can be either a Thing::Type of a byte value for custom types.

Participant *	owner = nullptr
	The participant owning this thing.

const char *	name = nullptr
	The name of the thing.

bool	nameChanged = false

const char *	modelUrl = nullptr
	An URL pointing to the location where a model of the thing can be found.

unsigned char	childCount = 0
	The number of children.

bool	hierarchyChanged = true
	Indicator that the hierarchy of the thing has changed.

bool	positionUpdated = false
	Boolean indicating that the thing has an updated position.

bool	orientationUpdated = false
	Boolean indicating the thing has an updated orientation.

bool	linearVelocityUpdated = false
	Boolean indicating the thing has an updated linear velocity.

bool	angularVelocityUpdated = false
	Boolean indicating the thing has an updated angular velocity.

Constructor & Destructor Documentation

◆ Thing()

RoboidControl::Thing::Thing ( Thing * parent = LocalRoot() )

Create a new Thing.

Parameters

parent (optional) The parent thing The owner will be the same as the owner of the parent thing, it will be Participant::LocalParticipant if the parent is not specified. A thing without a parent will be connected to the root thing.

Member Function Documentation

◆ CreateRoot()

void RoboidControl::Thing::CreateRoot ( Participant * owner )

static

Create a root thing for a participant.

Parameters

owner The participant who will own this root thing

◆ LocalRoot()

Thing * RoboidControl::Thing::LocalRoot ( )

static

The root thing for the local participant.

Returns: The root thing for the local participant

◆ SetModel()

void RoboidControl::Thing::SetModel ( const char * url )

Sets the location from where the 3D model of this Thing can be loaded from.

Parameters

url	The url of the model

Remarks: Although the roboid implementation is not dependent on the model, the only official supported model formats are .png (sprite), .gltf and .glb

◆ SetParent()

void RoboidControl::Thing::SetParent ( Thing * parent )

Sets the parent of this Thing.

Parameters

parent The Thing which should become the parent

◆ GetParent()

Thing * RoboidControl::Thing::GetParent ( )

Gets the parent of this Thing.

Returns: The parent Thing

◆ IsRoot()

bool RoboidControl::Thing::IsRoot ( ) const

Check if this is a root thing.

Returns: True is this thing is a root

◆ GetChildByIndex()

Thing * RoboidControl::Thing::GetChildByIndex ( unsigned char ix )

Get a child by index.

Parameters

ix	The child index

Returns: The found thing of nullptr when nothing is found

◆ AddChild()

void RoboidControl::Thing::AddChild ( Thing * child )

virtual

Add a child Thing to this Thing.

Parameters

child The Thing which should become a child

Remarks: When the Thing is already a child, it will not be added again

◆ RemoveChild()

Thing * RoboidControl::Thing::RemoveChild ( Thing * child )

Remove the given thing as a child of this thing.

Parameters

child The child to remove

Returns: The removed child or nullptr if the child could not be found

◆ GetChild()

Thing * RoboidControl::Thing::GetChild	(	unsigned char	id,
		bool	recurse = `false`
	)

Get a child by thing Id.

Parameters

id	The thing ID to find
recurse	Look recursively through all descendants

Returns: The found thing of nullptr when nothing is found

◆ FindChild()

Thing * RoboidControl::Thing::FindChild	(	const char *	name,
		bool	recurse = `true`
	)

Find a thing by name.

Parameters

name	The name of the thing
recurse	Look recursively through all descendants

Returns: The found thing or nullptr when nothing is found

◆ SetPosition()

void RoboidControl::Thing::SetPosition ( Spherical position )

Set the position of the thing.

Parameters

position The new position in local space, in meters

◆ GetPosition()

Spherical RoboidControl::Thing::GetPosition ( )

Get the position of the thing.

Returns: The position in local space, in meters

◆ SetOrientation()

void RoboidControl::Thing::SetOrientation ( SwingTwist orientation )

Set the orientation of the thing.

Parameters

orientation The new orientation in local space

◆ GetOrientation()

SwingTwist RoboidControl::Thing::GetOrientation ( )

Get the orientation of the thing.

Returns: The orienation in local space

◆ SetLinearVelocity()

void RoboidControl::Thing::SetLinearVelocity ( Spherical linearVelocity )

Set the linear velocity of the thing.

Parameters

linearVelocity The new linear velocity in local space, in meters per second

◆ GetLinearVelocity()

Spherical RoboidControl::Thing::GetLinearVelocity ( )

virtual

Get the linear velocity of the thing.

Returns: The linear velocity in local space, in meters per second

◆ SetAngularVelocity()

void RoboidControl::Thing::SetAngularVelocity ( Spherical angularVelocity )

virtual

Set the angular velocity of the thing.

Parameters

angularVelocity the new angular velocity in local space

◆ GetAngularVelocity()

Spherical RoboidControl::Thing::GetAngularVelocity ( )

virtual

Get the angular velocity of the thing.

Returns: The angular velocity in local space

◆ Update()

void RoboidControl::Thing::Update ( bool recurse = false )

virtual

Updates the state of the thing.

Parameters

recurse When true, this will Update the descendants recursively

Reimplemented in RoboidControl::ControlledMotor, RoboidControl::TouchSensor, RoboidControl::Arduino::DigitalInput, RoboidControl::Arduino::UltrasonicSensor, and RoboidControl::DifferentialDrive.

◆ GetTimeMs()

unsigned long RoboidControl::Thing::GetTimeMs ( )

static

Get the current time in milliseconds.

Returns: The current time in milliseconds

◆ GenerateBinary()

int RoboidControl::Thing::GenerateBinary	(	char *	buffer,
		unsigned char *	ix
	)

virtual

Function used to generate binary data for this thing.

Parameters

buffer	The byte array for thw binary data
ix	The starting position for writing the binary data

Returns: The size of the binary data

Reimplemented in RoboidControl::DifferentialDrive, RoboidControl::DigitalSensor, RoboidControl::RelativeEncoder, RoboidControl::TemperatureSensor, and RoboidControl::TouchSensor.

◆ ProcessBinary()

void RoboidControl::Thing::ProcessBinary ( char * bytes )

virtual

Function used to process binary data received for this thing.

Parameters

bytes The binary data

Reimplemented in RoboidControl::DigitalSensor, RoboidControl::RelativeEncoder, RoboidControl::TemperatureSensor, and RoboidControl::TouchSensor.

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Constructor & Destructor Documentation

◆ Thing()

Member Function Documentation

◆ CreateRoot()

◆ LocalRoot()

◆ SetModel()

◆ SetParent()

◆ GetParent()

◆ IsRoot()

◆ GetChildByIndex()

◆ AddChild()

◆ RemoveChild()

◆ GetChild()

◆ FindChild()

◆ SetPosition()

◆ GetPosition()

◆ SetOrientation()

◆ GetOrientation()

◆ SetLinearVelocity()

◆ GetLinearVelocity()

◆ SetAngularVelocity()

◆ GetAngularVelocity()

◆ Update()

◆ GetTimeMs()

◆ GenerateBinary()

◆ ProcessBinary()