RobotConfiguration Class Reference

A class that represents the configuration of the robot. More...

#include <RobotConfiguration.h>

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[legend]List of all members.

Public Member Functions
	RobotConfiguration ()
	Constructor.
void	load ()
	Loads the data from robot.cfg.
const RobotCalibration &	getRobotCalibration () const
	returns the calibration values of the robot
void	setRobotCalibration (const RobotCalibration &r)
	sets the calibration values of the robot
const char *	getMacAddressString () const
	returns the mac address of the robot
Design	getRobotDesign () const
	returns the design of the robot
const RobotDimensions &	getRobotDimensions () const
	returns the dimensions of the robot
bool	handleMessage (InMessage &message)
	updates the robot configuration based on message queue data.
Private Attributes
RobotCalibration	robotCalibration
	The calibration values of the robot.
char	macAddressString [13]
	The MAC address of the robot.
Design	robotDesign
	The design of the robot.
RobotDimensions	robotDimensions
	The dimensions of the robot.

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Detailed Description

A class that represents the configuration of the robot.

Author:

Thomas Röfer

Definition at line 71 of file RobotConfiguration.h.

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Constructor & Destructor Documentation

RobotConfiguration::RobotConfiguration (   )

Constructor. Definition at line 23 of file RobotConfiguration.cpp.

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Member Function Documentation

void RobotConfiguration::load (   )

Loads the data from robot.cfg. Definition at line 28 of file RobotConfiguration.cpp. References RobotCalibration::bodyRollOffset, RobotCalibration::bodyTiltOffset, InStream< InFile, InConfig >::eof(), InFile::exists(), SystemCall::getMacAddress(), SystemCall::getRobotDesign(), RobotCalibration::headRollOffset, RobotCalibration::headTiltOffset, macAddressString, RobotCalibration::panFactor, robotCalibration, robotDesign, robotDimensions, RobotCalibration::tilt2Factor, and RobotCalibration::tiltFactor. Referenced by Process::Process().

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const RobotCalibration& RobotConfiguration::getRobotCalibration (   )  const [inline]

returns the calibration values of the robot Definition at line 85 of file RobotConfiguration.h. References robotCalibration. Referenced by Kinematics::calculateCameraMatrix(), InvKinWalkingEngine::executeParameterized(), and GT2004WalkingEngine::executeParameterized().

void RobotConfiguration::setRobotCalibration (  const RobotCalibration &  r  )  [inline]

sets the calibration values of the robot Definition at line 88 of file RobotConfiguration.h. References robotCalibration. Referenced by CalibrationIndividual::select().

const char* RobotConfiguration::getMacAddressString (   )  const [inline]

returns the mac address of the robot Definition at line 91 of file RobotConfiguration.h. References macAddressString.

Design RobotConfiguration::getRobotDesign (   )  const [inline]

returns the design of the robot Definition at line 94 of file RobotConfiguration.h. References robotDesign. Referenced by Kinematics::calculateCameraMatrix(), GT2004GetupEngine::executeParameterized(), GT2004ParametersSet::load(), GT2004ParametersSet::save(), and PIDData::setToDefaults().

const RobotDimensions& RobotConfiguration::getRobotDimensions (   )  const [inline]

returns the dimensions of the robot Definition at line 97 of file RobotConfiguration.h. References robotDimensions. Referenced by Field::addPlayer(), Kinematics::calcAbsRollJoints(), Kinematics::calcHeadHeight(), Kinematics::calcHighestPossibleTilt(), Kinematics::calcLowestPossibleTilt(), Kinematics::calcNeckAndLegPositions(), Kinematics::calcNoseHeight(), Kinematics::calcRelativeRobotVertices(), Kinematics::calculateCameraMatrix(), Geometry::calculateScaleFactor(), BallPercept::checkOffset(), GT2004ImageProcessor::execute(), CheckerboardDetector::execute(), Kinematics::getAbsoluteRobotVertices(), GT2004HeadControl::GT2004HeadControl(), GT2004BallLocator::handleSeenBall(), GT2004HeadPathPlanner::init(), Kinematics::jointsFromLegPosition(), Kinematics::kneePositionFromJoints(), Kinematics::legPositionFromJoints(), GT2003MotionNetSpecialActions::readOdometryTable(), Kinematics::transformToLegBase(), and RobotPoseSymbols::updateGoalieDefendPosition().

bool RobotConfiguration::handleMessage (  InMessage &  message  )

updates the robot configuration based on message queue data. Definition at line 65 of file RobotConfiguration.cpp. References InMessage::bin, RobotCalibration::bodyRollOffset, RobotCalibration::bodyTiltOffset, GenericDebugData::data, InMessage::getMessageID(), RobotCalibration::headRollOffset, RobotCalibration::headTiltOffset, idBodyOffsets, RobotCalibration::panFactor, robotCalibration, RobotCalibration::tilt2Factor, and RobotCalibration::tiltFactor. Referenced by Motion::handleMessage(), and Cognition::handleMessage().

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Member Data Documentation

RobotCalibration RobotConfiguration::robotCalibration [private]

The calibration values of the robot. Definition at line 103 of file RobotConfiguration.h. Referenced by getRobotCalibration(), handleMessage(), load(), and setRobotCalibration().

char RobotConfiguration::macAddressString[13] [private]

The MAC address of the robot. Definition at line 104 of file RobotConfiguration.h. Referenced by getMacAddressString(), and load().

Design RobotConfiguration::robotDesign [private]

The design of the robot. Definition at line 105 of file RobotConfiguration.h. Referenced by getRobotDesign(), and load().

RobotDimensions RobotConfiguration::robotDimensions [private]

The dimensions of the robot. Definition at line 106 of file RobotConfiguration.h. Referenced by getRobotDimensions(), and load().

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The documentation for this class was generated from the following files:

• Tools/RobotConfiguration.h
• Tools/RobotConfiguration.cpp

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