Odometry.h File Reference

In "rec/robotino/api2/c/Odometry.h" you can find functions for reading Robotino's bumper. More...

#include "rec/robotino/api2/c/globals.h"
#include "rec/robotino/api2/c/Com.h"

Go to the source code of this file.

Macros
#define	INVALID_ODOMETRYID   -1

Typedefs
typedef int	OdometryId

Functions
DLLEXPORT OdometryId	Odometry_construct ()
DLLEXPORT BOOL	Odometry_destroy (OdometryId id)
DLLEXPORT BOOL	Odometry_setComId (OdometryId id, ComId comId)
DLLEXPORT BOOL	Odometry_readings (OdometryId id, double *x, double *y, double *phi, unsigned int *sequence)
DLLEXPORT float	Odometry_x (OdometryId id)
DLLEXPORT float	Odometry_y (OdometryId id)
DLLEXPORT float	Odometry_phi (OdometryId id)
DLLEXPORT BOOL	Odometry_set (OdometryId id, float x, float y, float phi)

Detailed Description

In "rec/robotino/api2/c/Odometry.h" you can find functions for reading Robotino's bumper.

Use Odometry_construct() to create a new odometry object. Associate the odometry object with a com object using Odometry_setComId(). Use Odometry_open() to open the odometry. Use Odometry_close() to open the odometry. Use Odometry_isOpened() to check if the odometry is opened. Use Odometry_isClosed() to check if the odometry is closed.

Macro Definition Documentation

#define INVALID_ODOMETRYID   -1

Invalid OdometryId is -1

Typedef Documentation

typedef int OdometryId

OdometryId

Function Documentation

DLLEXPORT OdometryId Odometry_construct

(

)

Construct an odometry object

Returns

Returns the ID of the newly constructed odometry object.

DLLEXPORT BOOL Odometry_destroy

(

OdometryId

id

)

Destroy the odometry object assigned to id

Parameters

id	The id of the odometry object to be destroyed

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given OdometryId is invalid.

DLLEXPORT float Odometry_phi

(

OdometryId

id

)

Parameters

id	The id of the odometry object to be destroyed

Returns

Global orientation of Robotino in degree.

DLLEXPORT BOOL Odometry_set	(	OdometryId	id,
		float	x,
		float	y,
		float	phi
	)

Set Robotino's odoemtry to the given coordinates

Parameters

id	The id of the odometry object to be destroyed
x	Global x position in mm
y	Global y position in mm
phi	Global phi orientation in degrees

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given OdometryId is invalid.

DLLEXPORT BOOL Odometry_setComId	(	OdometryId	id,
		ComId	comId
	)

Associated a odometry object with a communication interface, i.e. binding the odometry to a specific Robotino

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given OdometryId or ComId is invalid.

DLLEXPORT float Odometry_x

(

OdometryId

id

)

Parameters

id	The id of the odometry object to be destroyed

Returns

Global x position of Robotino in mm.

DLLEXPORT float Odometry_y

(

OdometryId

id

)

Parameters

id	The id of the odometry object to be destroyed

Returns

Global y position of Robotino in mm.