Module to which keeps track of objects around the roboid. More...

#include <Perception.h>

Public Member Functions
	Perception ()
	Default Constructor.

template<unsigned int sensorCount>
	Perception (Placement(&sensors)[sensorCount])
	Template to make it possible to leave out ths sensorCount.

	Perception (Placement *sensors, unsigned int sensorCount)
	Create a perception setup with the given Sensors.

unsigned int	GetSensorCount ()
	Get the number of Sensors.

Sensor *	GetSensor (unsigned int sensorIx)
	Get a specific Sensor on the Roboid.

Placement *	GetSensorPlacement (unsigned int sensorIx)
	Get the placement of a specific Sensor.

float	DistanceForward (float direction=90)
	Distance to the closest object on the front of the Roboid.

float	DistanceLeft ()
	Distance to the closest object on the left.

float	DistanceLeft (float angle)
	Distance to the closest object on the left.

float	DistanceRight ()
	Distance to the closest object on the right.

float	DistanceRight (float angle)
	Distance to the closest object on the right.

float	DistanceUp ()
	Distance to the closest object above the Roboid.

float	DistanceUp (float angle)
	Distance to the closest object above the Roboid within the give range.

float	DistanceDown ()
	Disatnce to the closest object under the Roboid.

float	DistanceDown (float angle)
	Distance to the closest object under th4e Roboid within the given range.

bool	SwitchOn (float fromAngle, float toAngle)
	Checks if an object is close within the give range in the horizontal plane.

Protected Attributes
Placement *	sensorPlacements = nullptr
	The Placement of the Sensors used for Perception.

unsigned int	sensorCount = 0
	The number of Sensors used for Perception.

Detailed Description

Module to which keeps track of objects around the roboid.

Constructor & Destructor Documentation

◆ Perception() [1/3]

Perception::Perception ( )

Default Constructor.

◆ Perception() [2/3]

template<unsigned int sensorCount>

Passer::RoboidControl::Perception::Perception ( Placement(&) sensors[sensorCount] )

inline

Template to make it possible to leave out ths sensorCount.

Template Parameters

sensorCount

Parameters

sensors An array of sensor placements

◆ Perception() [3/3]

Perception::Perception	(	Placement *	sensors,
		unsigned int	sensorCount
	)

Create a perception setup with the given Sensors.

Parameters

sensors	The Placement of Sensors on the Roboid
sensorCount	The number of sensors in the placement array

Member Function Documentation

◆ GetSensorCount()

unsigned int Perception::GetSensorCount ( )

Get the number of Sensors.

Returns: The number of sensors, zero when no sensors are present

◆ GetSensor()

Sensor * Perception::GetSensor ( unsigned int sensorIx )

Get a specific Sensor on the Roboid.

Parameters

sensorId The index of the Sensor

Returns: The requested Sensor or a nullptr when no Sensor with the given index could be found

◆ GetSensorPlacement()

Placement * Passer::RoboidControl::Perception::GetSensorPlacement ( unsigned int sensorIx )

Get the placement of a specific Sensor.

Parameters

motorIx The index of the Sensor

Returns: Returns the Placement or a nullptr when no Placement with the given index could be found

◆ DistanceForward()

float Perception::DistanceForward ( float direction = 90 )

Distance to the closest object on the front of the Roboid.

Parameters

direction The direction relative to the forward direction in which the object should be present

Returns: The distance to the closest object within the given range, INFINITY when no object is detected

◆ DistanceLeft() [1/2]

float Passer::RoboidControl::Perception::DistanceLeft ( )

inline

Distance to the closest object on the left.

Returns: distance in meters, INFINITY when no object is detected.

Note: An object is on the left when the angle is between -180 and 0 degrees.; An object dead straight (0 degrees) is not reported.

◆ DistanceLeft() [2/2]

float Perception::DistanceLeft ( float angle )

Distance to the closest object on the left.

Parameters

angle the maximum angle on the left used for detection.

Returns: distance in meters, INFINITY when no object is detected.

Note: An object is on the left when the angle is between -angle and 0 degrees.; An object dead straight (0 degrees) is not reported.; When an object is beyond angle meters, it is not reported.

◆ DistanceRight() [1/2]

float Passer::RoboidControl::Perception::DistanceRight ( )

inline

Distance to the closest object on the right.

Returns: distance in meters, INFINITY when no object is detected

Note: An object is on the right when the angle is between 0 and 180 degrees; An object dead straight (0 degrees) is not reported

◆ DistanceRight() [2/2]

float Perception::DistanceRight ( float angle )

Distance to the closest object on the right.

Parameters

angle the maximum angle on the left used for detection.

Returns: distance in meters, INFINITY when no object is detected

Note: An object is on the left when the angle is between 0 and angle degrees.; An object dead straight (0 degrees) is not reported.; When an object is beyond angle meters, it is not reported.

◆ DistanceUp() [1/2]

float Passer::RoboidControl::Perception::DistanceUp ( )

inline

Distance to the closest object above the Roboid.

Returns: distance in meters, INFINITY when no object is detected

◆ DistanceUp() [2/2]

float Perception::DistanceUp ( float angle )

Distance to the closest object above the Roboid within the give range.

Parameters

angle The angle relative to the upward direction to indicate the range

Returns: distance in meters, INFINITY when no object is detected

◆ DistanceDown() [1/2]

float Passer::RoboidControl::Perception::DistanceDown ( )

inline

Disatnce to the closest object under the Roboid.

Returns: distance in meters, INFINITY when no object is detected

◆ DistanceDown() [2/2]

float Perception::DistanceDown ( float angle )

Distance to the closest object under th4e Roboid within the given range.

Parameters

angle The angle relative to the downward direciton to indicate the range

Returns: distance in meters, INFINITY when no object is detected

◆ SwitchOn()

bool Perception::SwitchOn	(	float	fromAngle,
		float	toAngle
	)

Checks if an object is close within the give range in the horizontal plane.

Parameters

fromAngle	Start angle in the horizontal plane
toAngle	End angle in the horizontal plane

Returns: True is an object is closeby

Note: Whether an object is closeby depends on the Distance Sensor

Remarks: This function is likely to change in the near future

Member Data Documentation

◆ sensorPlacements

Placement* Passer::RoboidControl::Perception::sensorPlacements = nullptr

protected

The Placement of the Sensors used for Perception.

◆ sensorCount

unsigned int Passer::RoboidControl::Perception::sensorCount = 0

protected

The number of Sensors used for Perception.

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

d:/PlatformIO/RoboidControlArduino/src/RoboidControl/Perception.h
d:/PlatformIO/RoboidControlArduino/src/RoboidControl/Perception.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Perception() [1/3]

◆ Perception() [2/3]

◆ Perception() [3/3]

Member Function Documentation

◆ GetSensorCount()

◆ GetSensor()

◆ GetSensorPlacement()

◆ DistanceForward()

◆ DistanceLeft() [1/2]

◆ DistanceLeft() [2/2]

◆ DistanceRight() [1/2]

◆ DistanceRight() [2/2]

◆ DistanceUp() [1/2]

◆ DistanceUp() [2/2]

◆ DistanceDown() [1/2]

◆ DistanceDown() [2/2]

◆ SwitchOn()

Member Data Documentation

◆ sensorPlacements

◆ sensorCount