Passer::RoboidControl::Thing Class Reference

Detailed Description

A thing is the primitive building block.

#include <Thing.h>

Inheritance diagram for Passer::RoboidControl::Thing:

Public Types
enum class	Type {   Undetermined , Switch , DistanceSensor , DirectionalSensor ,   TemperatureSensor , ControlledMotor , UncontrolledMotor , Servo ,   Roboid , Humanoid , ExternalSensor }
	Predefined thing types.

Public Member Functions
	Thing (Type thingType=Type::Undetermined)
	Create a new thing of the given type.
	Thing (unsigned char thingType)
	Create a new thing of the give type.
	Thing (RemoteParticipant *participant, unsigned char networkId, unsigned char thingId, Type thingType=Type::Undetermined)
	Create a new thing for the given participant.
Thing *	FindThing (const char *name)
	Find a thing by name.
virtual void	SetParent (Thing *parent)
	Sets the parent Thing.
void	SetParent (Thing *root, const char *name)
Thing *	GetParent ()
	Gets the parent Thing.
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 recursive=false)
	Get a child by thing Id.
Thing *	GetChildByIndex (unsigned char ix)
	Get a child by index.
void	SetPosition (Spherical16 position)
	Set the position of the thing.
Spherical16	GetPosition ()
	Get the position of the thing.
void	SetOrientation (SwingTwist16 orientation)
	Set the orientation of the thing.
SwingTwist16	GetOrientation ()
	Get the orientation of the thing.
virtual Spherical16	GetLinearVelocity ()
	Get the linear velocity of the thing.
virtual Spherical16	GetAngularVelocity ()
	Get the angular velocity of the thing.
void	Terminate ()
	Terminated things are no longer updated.
void	SetModel (const char *url)
	Sets the location from where the 3D model of this Thing can be loaded from.
virtual void	Update (unsigned long currentTimeMs)
	Updates the state of the thing.
virtual void	GenerateBinary (char *buffer, unsigned char *ix)
	Function used to generate binary data for this thing.
virtual void	ProcessBinary (char *bytes)

Public Attributes
RemoteParticipant *	participant
unsigned char	networkId = 0
unsigned char	id = 0
	The ID of the thing.
unsigned char	type = 0
	The type of Thing.
unsigned char	childCount = 0
	The number of children.
const char *	name = nullptr
	The name of the thing.
const char *	modelUrl = nullptr
	An URL pointing to the location where a model of the thing can be found.
float	modelScale = 1
	The scale of the model (deprecated I think)
float	scale = 1
	The scale of the thing (deprecated I think)
bool	positionUpdated = false
	boolean indicating if the position was updated
bool	orientationUpdated = false
	boolean indicating if the orientation was updated
Spherical16	linearVelocity
Spherical16	angularVelocity

Protected Attributes
Thing *	parent = nullptr
Thing **	children = nullptr
Spherical16	position
	The position in local space.
SwingTwist16	orientation
	The orientation in local space.

Constructor & Destructor Documentation

Thing() [1/3]

Thing::Thing

(

Type

thingType = Type::Undetermined

)

Create a new thing of the given type.

Parameters

thingType

The predefined type of thing

Thing() [2/3]

Thing::Thing

(

unsigned char

thingType

)

Create a new thing of the give type.

Parameters

thingType

The custom type of the thing

Thing() [3/3]

Thing::Thing	(	RemoteParticipant *	participant,
		unsigned char	networkId,
		unsigned char	thingId,
		Type	thingType = Type::Undetermined
	)

Create a new thing for the given participant.

Parameters

participant	The participant for which this thing is created
networkId	The network ID of the thing
thingId	The ID of the thing
thingType	The type of thing

Member Function Documentation

FindThing()

Thing * Thing::FindThing

(

const char *

name

)

Find a thing by name.

Parameters

name	Rhe name of the thing

Returns

The found thing or nullptr when nothing is found

SetParent()

void Thing::SetParent ( Thing *  parent )

virtual

Sets the parent Thing.

Parameters

parent

The Thing which should become the parnet

Remarks

This is equivalent to calling parent->AddChild(this);

GetParent()

Thing * Thing::GetParent

(

)

Gets the parent Thing.

Returns

The parent Thing

AddChild()

void 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 * 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 * Thing::GetChild	(	unsigned char	id,
		bool	recursive = false
	)

Get a child by thing Id.

Parameters

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

Returns

The found thing of nullptr when nothing is found

GetChildByIndex()

Thing * 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

SetPosition()

void Thing::SetPosition

(

Spherical16

position

)

Set the position of the thing.

Parameters

position

The new position in local space, in meters

GetPosition()

Spherical16 Thing::GetPosition

(

)

Get the position of the thing.

Returns

The position in local space, in meters

SetOrientation()

void Thing::SetOrientation

(

SwingTwist16

orientation

)

Set the orientation of the thing.

Parameters

orientation

The new orientation in local space

GetOrientation()

SwingTwist16 Thing::GetOrientation

(

)

Get the orientation of the thing.

Returns

The orienation in local space

GetLinearVelocity()

Spherical16 Thing::GetLinearVelocity ( )

virtual

Get the linear velocity of the thing.

Returns

The linear velocity in local space, in meters per second

GetAngularVelocity()

Spherical16 Thing::GetAngularVelocity ( )

virtual

Get the angular velocity of the thing.

Returns

The angular velocity in local space

SetModel()

void 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 format is .obj

Update()

virtual void Passer::RoboidControl::Thing::Update ( unsigned long  currentTimeMs )

inlinevirtual

Updates the state of the thing.

Parameters

currentTimeMs

The current clock time in milliseconds

GenerateBinary()

void 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

Reimplemented in Passer::RoboidControl::TemperatureSensor.

ProcessBinary()

void Thing::ProcessBinary ( char *  bytes )

virtual

Parameters

bytes

The binary data

Reimplemented in Passer::RoboidControl::TemperatureSensor.

Member Data Documentation

position

Spherical16 Passer::RoboidControl::Thing::position

protected

The position in local space.

Remarks

When this Thing has a parent, the position is relative to the parent's position and orientation

orientation

SwingTwist16 Passer::RoboidControl::Thing::orientation

protected

The orientation in local space.

Remarks

When this Thing has a parent, the orientation is relative to the parent's orientation