epuckPosition2d.hpp
double intervalDelay()
Get the time elapsed since the last call at resetInterval.
Definition: timer.hpp:87
int recvInt() const
Receive a signed interger from e-puck.
Definition: serialPort.cpp:96
void StopMotors() const
Stop the e-puck motors.
Definition: epuckPosition2d.cpp:104
Struct which represents the pose and velocity of e-puck.
Definition: epuckPosition2d.hpp:46
void SetOdometry(Triple odometry)
Set the current pose estimated by odometry.
Definition: epuckPosition2d.cpp:83
void SetVel(float px, float pa) const
Set linear and angular velocities to e-puck.
Definition: epuckPosition2d.cpp:42
float height
Height of e-puck body.
Definition: epuckPosition2d.hpp:41
EpuckPosition2d(const SerialPort *const serialPort)
The EpuckPosition2d class constructor.
Definition: epuckPosition2d.cpp:34
BodyGeometry GetGeometry() const
Give the e-puck geometry.
Definition: epuckPosition2d.hpp:100
Struct which represents the geometry of e-puck body.
Definition: epuckPosition2d.hpp:39
Triple velocity
E-puck velocity in a 2D surface.
Definition: epuckPosition2d.hpp:48
void sendInt(int message) const
Send an integer to e-puck.
Definition: serialPort.cpp:172
const SerialPort *const serialPort
A SerialPort class instance shared among the device interfaces.
Definition: epuckInterface.hpp:59
DynamicConfiguration UpdateOdometry()
Estimate the current pose and velocities.
Definition: epuckPosition2d.cpp:112
static const float EPUCK_DIAMETER
Diameter of e-puck body [m].
Definition: epuckInterface.hpp:62
@ GET_STEPS
Receive the steps made and reset the stepp counter.
Definition: epuckInterface.hpp:69
@ SET_VEL
Send motors steps per second velocity.
Definition: epuckInterface.hpp:68
float width
Width of e-puck body.
Definition: epuckPosition2d.hpp:40
Struct which represents a triple (x,y,theta).
Definition: epuckInterface.hpp:39
void ResetOdometry()
Set the current pose estimated by odometry - (x,y,theta) - to (0,0,0).
Definition: epuckPosition2d.cpp:98
Triple pose
E-puck pose in a 2D surface.
Definition: epuckPosition2d.hpp:47