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9 #ifndef CActivMediaRobotBase_H
10 #define CActivMediaRobotBase_H
87 void setSerialPortConfig(
88 const std::string &portName,
120 void getOdometryFull(
124 int64_t &out_left_encoder_ticks,
125 int64_t &out_right_encoder_ticks
136 void getOdometryIncrement(
140 int64_t &out_incr_left_encoder_ticks,
141 int64_t &out_incr_right_encoder_ticks
149 void getBatteryCharge(
double &out_batery_volts );
151 void getRealBatteryCharge(
double &out_batery_volts );
157 void setVelocities(
const double lin_vel,
const double ang_vel);
160 void disableSonars();
165 void getRobotInformation(TRobotDescription &info);
174 void DisableMotors();
180 bool areMotorsEnabled()
const;
204 void disconnectAndDisableMotors();
205 void connectAndEnableMotors();
208 void loadConfig_sensorSpecific(
210 const std::string &iniSection );
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
Access to joysticks and gamepads (read buttons and position), and request number of joysticks in the ...
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
This class allows loading and storing values and vectors of different types from a configuration text...
A class used to store a 2D pose.
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
Declares a class derived from "CObservation" that encapsules a single range measurement,...
std::vector< bool > vector_bool
A type for passing a vector of bools.
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