WorldState.h File Reference

Describes WorldState, maintains information about the robot's environment, namely sensors and power status. More...

#include "Shared/RobotInfo.h"
#include "IPC/ProcessID.h"
#include <vector>

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Classes
class	WorldState
	The state of the robot and its environment. More...
class	WorldStateLookup
	This class masquerades as a simple WorldState pointer, but actually checks the process ID of the referencing thread to allow each thread group to have a separate WorldState*. More...
Namespaces
namespace	SensorSrcID
	holds source ID types for sensor events; see EventBase, see SensorSourceID_t
namespace	PowerSrcID
	holds source ID types for power events; see EventBase, see PowerSourceID_t
Enumerations
enum	SensorSrcID::SensorSourceID_t { SensorSrcID::UpdatedSID }
	holds source ID types for sensor events More...
enum	PowerSrcID::PowerSourceID_t {   PowerSrcID::PauseSID = 0, PowerSrcID::MotorPowerSID, PowerSrcID::VibrationSID, PowerSrcID::BatteryEmptySID,   PowerSrcID::LowPowerWarnSID, PowerSrcID::BatteryFullSID, PowerSrcID::ExternalPowerSID, PowerSrcID::ExternalPortSID,   PowerSrcID::BatteryConnectSID, PowerSrcID::BatteryInitSID, PowerSrcID::DischargingSID, PowerSrcID::ChargingSID,   PowerSrcID::OverheatingSID, PowerSrcID::PowerGoodSID, PowerSrcID::ChargerStatusSID, PowerSrcID::SuspendedSID,   PowerSrcID::OverChargedSID, PowerSrcID::TermDischargeSID, PowerSrcID::TermChargeSID, PowerSrcID::ErrorSID,   PowerSrcID::StationConnectSID, PowerSrcID::BatteryOverCurrentSID, PowerSrcID::DataFromStationSID, PowerSrcID::RegisterUpdateSID,   PowerSrcID::RTCSID, PowerSrcID::SpecialModeSID, PowerSrcID::BMNDebugModeSID, PowerSrcID::PlungerSID,   PowerSrcID::UpdatedSID, PowerSrcID::NumPowerSIDs }
	holds source ID types for power events More...
Variables
WorldStateLookup	state
	the global state object, points into a shared memory region, created by MainObject

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Detailed Description

Describes WorldState, maintains information about the robot's environment, namely sensors and power status.

Author:

ejt (Creator)

Definition in file WorldState.h.

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Variable Documentation

WorldStateLookup state

the global state object, points into a shared memory region, created by MainObject

Definition at line 35 of file WorldState.cc.

Referenced by Wireless::blockingSend(), BatteryMonitorBehavior::calcFlipDelay(), Kinematics::calculateGroundPlane(), Wireless::connect(), ArmController::connect(), MotionManager::convertMotion(), Kodu::Parser::KodeCreator::createGrabKode(), WorldStateSerializerBehavior::doEvent(), RecordMotionNode::doEvent(), FlashIPAddrBehavior::doEvent(), BatteryMonitorBehavior::doEvent(), ArmController::doEvent(), Grasper::Verify::CheckGripperLoad::doStart(), DeadReckoningBehavior< ParticleT >::doStart(), EmergencyStopMC::freezeJoints(), CreateOdometry::getCreateOdometry(), WorldState::getCurrent(), ArmMC::getGripperLoad(), MotionManager::getOutputs(), ArmMC::incrementGrasp(), PostureMC::isAlive(), HeadPointerMC::isAlive(), ArmMC::isAlive(), Wireless::listen(), ArmController::pointPicked(), Wireless::pollProcess(), Wireless::pollSetup(), RecordMotionNode::preStart(), TorqueCalibrate::TakeMeasurementControl::processEvent(), SensorObserverControl::processEvent(), PostureEditor::processEvent(), PostureEditor::refresh(), Wireless::send(), CameraStreamBehavior::sendSensors(), EventProxy::sendState(), BatteryMonitorBehavior::setFlipper(), ArmMC::setOutputCmd(), MotionManager::setPID(), WalkCalibration::setupMoving(), BatteryMonitorBehavior::shouldWarn(), XWalkMC::start(), BatteryMonitorBehavior::startWarning(), SineMC::sync(), HeadPointerMC::takeSnapshot(), ArmMC::takeSnapshot(), Controller::trapEvent(), Kinematics::update(), XWalkMC::updateOutputs(), EmergencyStopMC::updateOutputs(), XWalkMC::updateOutputsInitial(), MotionManager::updatePIDs(), SensorObserverControl::updateRT(), and LogNode::writeSensor().