RoboidControl.Thing Class Reference

Detailed Description

A thing is the primitive building block.

Inheritance diagram for RoboidControl.Thing:

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

Public Member Functions
	Thing (byte thingType=(byte) Type.Undetermined)
	Thing (Participant owner, byte thingType=(byte) Type.Undetermined)
	Thing (Thing parent, byte thingType=(byte) Type.Undetermined)
	Thing (Participant owner, bool invokeEvent=false)
	Create a new thing for the given participant.
	Thing (Participant participant, byte networkId, byte thingId, byte thingType=0)
	Create a new thing for the given participant.
virtual void	CreateComponent ()
	Function which can be used to create components in external engines.
delegate void	ChangeHandler ()
delegate void	SphericalHandler (Spherical v)
delegate void	ThingHandler (Thing t)
void	AddChild (Thing child)
	Attach a thing as a child of this thing.
void	RemoveChild (Thing child)
	Remove the given thing as a child of this thing.
void	Update (bool recursive=false)
	Convience function for use in Unity which removes the need for a currentTime argument.
virtual void	Update (ulong currentTimeMs, bool recursive=false)
	Update this thing.
virtual byte[]	GenerateBinary ()
	Function used to generate binary data for this thing.
virtual void	ProcessBinary (byte[] bytes)
	Function used to process binary data received for this thing.

Static Public Member Functions
static void	InvokeNewThing (Thing thing)
	Trigger the creation for the given thing.
static bool	IsThing (Thing thing, byte networkId, byte thingId)
	Check if the thing has the given properaties.

Public Attributes
Participant	owner
	The participant to which this thing belongs.
byte	networkId
	The network ID of this thing.
byte	id
	The ID of this thing.
byte	type
	The type of this thing. This can be either a Thing::Type (needs casting) or a byte value for custom types.
List< Thing >	children = new List<Thing>()
	The list of children of this thing.
string	modelUrl = ""
	An URL pointing to the location where a model of the thing can be found.
bool	hasPosition = false
Spherical	angularVelocity = Spherical.zero
	The angular velocity of the thing in local space.
Unity.Thing	component = null
	A reference to the representation of the thing in Unity.

Properties
Thing	parent [get, set]
	The parent of this thing.
virtual string	name [get, set]
	The name of the thing.
Spherical	position [get, set]
	The position of the thing in local space, in meters.
SwingTwist	orientation [get, set]
	The orientation of the thing in local space.
Spherical	linearVelocity [get, set]
	The linear velocity of the thing in local space in meters per second.

Events
ChangeHandler	OnParentChanged = delegate { }
	Event which is triggered when the parent changes.
ChangeHandler	OnNameChanged = delegate { }
	Event which is triggered when the name changes.
ChangeHandler	OnPositionChanged = delegate { }
	Event triggered when the position has changed.
ChangeHandler	OnOrientationChanged = delegate { }
	Event triggered when the orientation has changed.
SphericalHandler	OnLinearVelocityChanged = delegate { }
	Event triggered when the linear velocity has changed.
static ThingHandler	OnNewThing = delegate { }
	Event triggered when a new thing has been created.

Constructor & Destructor Documentation

Thing() [1/2]

RoboidControl.Thing.Thing	(	Participant	owner,
		bool	invokeEvent = false
	)

Create a new thing for the given participant.

Parameters

owner	The participant for which this thing is created
invokeEvent	True when a new thing event should be triggered

Thing() [2/2]

RoboidControl.Thing.Thing	(	Participant	participant,
		byte	networkId,
		byte	thingId,
		byte	thingType = 0
	)

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

CreateComponent()

virtual void RoboidControl.Thing.CreateComponent ( )

virtual

Function which can be used to create components in external engines.

Currently this is used to create GameObjects in Unity

Reimplemented in RoboidControl.DistanceSensor, and RoboidControl.TouchSensor.

AddChild()

void RoboidControl.Thing.AddChild

(

Thing

child

)

Attach a thing as a child of this thing.

Parameters

child

The thing to attach as a child

RemoveChild()

void RoboidControl.Thing.RemoveChild

(

Thing

child

)

Remove the given thing as a child of this thing.

Parameters

child

The child to remove

Update()

virtual void RoboidControl.Thing.Update ( ulong  currentTimeMs, bool  recursive = false  )

virtual

Update this thing.

Parameters

currentTime

The current time in milliseconds

Reimplemented in RoboidControl.DifferentialDrive.

GenerateBinary()

virtual byte[] RoboidControl.Thing.GenerateBinary ( )

virtual

Function used to generate binary data for this thing.

Returns

a byte array with the binary data

See also

Passer::RoboidControl::BinaryMsg

Reimplemented in RoboidControl.TouchSensor.

ProcessBinary()

virtual void RoboidControl.Thing.ProcessBinary ( byte[]  bytes )

virtual

Function used to process binary data received for this thing.

Parameters

bytes

The binary data

Reimplemented in RoboidControl.DistanceSensor, and RoboidControl.TemperatureSensor.

InvokeNewThing()

static void RoboidControl.Thing.InvokeNewThing ( Thing  thing )

static

Trigger the creation for the given thing.

Parameters

thing

The created thing

IsThing()

static bool RoboidControl.Thing.IsThing ( Thing  thing, byte  networkId, byte  thingId  )

static

Check if the thing has the given properaties.

Parameters

thing	The thing to check
networkId	The network ID to compare to
thingId	The thing ID to compare to

Returns

True when the thing has the given properties