Reference

WorldState.cc File Reference

Detailed Description

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

Author:: ejt (Creator)

Author: ejt

Name: tekkotsu-2_0

Revision: 1.22

State: Exp

Date: 2004/01/19 20:36:48

Definition in file WorldState.cc.

#include <OPENR/core_macro.h>
#include <OPENR/ObjcommTypes.h>
#include <OPENR/OPENR.h>
#include <OPENR/OPENRAPI.h>
#include <OPENR/OPENRMessages.h>
#include <OPENR/OPower.h>
#include "WorldState.h"
#include "Shared/get_time.h"
#include "Events/EventRouter.h"
#include "ERS210Info.h"
#include "ERS220Info.h"
#include "ERS7Info.h"

Include dependency graph for WorldState.cc:

Go to the source code of this file.

Defines

#define GETD(cpc)   (((float)sensor.GetData(cpc)->frame[lastFrame].value) / 1.0E6f)

returns value from OPEN-R, converted from micro in int to base in float

#define GETB(cpc)   ((bool)sensor.GetData(cpc)->frame[lastFrame].value)

returns value from OPEN-R, as bool

#define GETSENSOR(cpc)   ((float)sensor.GetData(cpc)->frame[lastFrame].value)

return value from OPEN-R, as int

#define GETSIG(cpc)   ((word)sensor.GetData(cpc)->frame[lastFrame].signal)

returns signal from OPEN-R as word

#define GETDUTY(cpc)   ((float)((OJointValue*)&sensor.GetData(cpc)->frame[lastFrame])->pwmDuty/512.0f)

returns duty cycle from OPEN-R as float; -1 (full reverse) to 0 (idle) to 1 (full forward)

Variables

WorldState * state = NULL

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

Define Documentation

#define GETB ( cpc ) ((bool)sensor.GetData(cpc)->frame[lastFrame].value)

returns value from OPEN-R, as bool

Definition at line 18 of file WorldState.cc.
Referenced by WorldState::read().

#define GETD ( cpc ) (((float)sensor.GetData(cpc)->frame[lastFrame].value) / 1.0E6f)

returns value from OPEN-R, converted from micro in int to base in float

Definition at line 17 of file WorldState.cc.
Referenced by WorldState::read().

#define GETDUTY ( cpc ) ((float)((OJointValue*)&sensor.GetData(cpc)->frame[lastFrame])->pwmDuty/512.0f)

returns duty cycle from OPEN-R as float; -1 (full reverse) to 0 (idle) to 1 (full forward)

Definition at line 21 of file WorldState.cc.
Referenced by WorldState::read().

#define GETSENSOR ( cpc ) ((float)sensor.GetData(cpc)->frame[lastFrame].value)

return value from OPEN-R, as int

Definition at line 19 of file WorldState.cc.
Referenced by WorldState::read().

#define GETSIG ( cpc ) ((word)sensor.GetData(cpc)->frame[lastFrame].signal)

returns signal from OPEN-R as word

Definition at line 20 of file WorldState.cc.

Variable Documentation


Defines
#define	GETD(cpc) (((float)sensor.GetData(cpc)->frame[lastFrame].value) / 1.0E6f)
	returns value from OPEN-R, converted from micro in int to base in float
#define	GETB(cpc) ((bool)sensor.GetData(cpc)->frame[lastFrame].value)
	returns value from OPEN-R, as bool
#define	GETSENSOR(cpc) ((float)sensor.GetData(cpc)->frame[lastFrame].value)
	return value from OPEN-R, as int
#define	GETSIG(cpc) ((word)sensor.GetData(cpc)->frame[lastFrame].signal)
	returns signal from OPEN-R as word
#define	GETDUTY(cpc) ((float)((OJointValue*)&sensor.GetData(cpc)->frame[lastFrame])->pwmDuty/512.0f)
	returns duty cycle from OPEN-R as float; -1 (full reverse) to 0 (idle) to 1 (full forward)
Variables
WorldState *	state = NULL
	the global state object, is a shared memory region, created by MainObject