ArRobotParams Class Reference

Stores parameters read from the robot's parameter files. More...

#include <ArRobotParams.h>

Inherits ArConfig.

Public Member Functions
	ArRobotParams ()
	Constructor.
int	getAbsoluteMaxLatVelocity (void) const
	Returns the max lateral velocity of the robot.
int	getAbsoluteMaxRotVelocity (void) const
	Returns the max rotational velocity of the robot.
int	getAbsoluteMaxVelocity (void) const
	Returns the max velocity of the robot.
double	getAngleConvFactor (void) const
	Returns the angle conversion factor.
bool	getBatteryMTXBoardAutoConn (int batteryNumber=1) const
	Gets a bool that specifies weather to auto connect or not.
int	getBatteryMTXBoardBaud (int batteryNumber=1) const
	Gets the int that is the baud for the battery.
const char *	getBatteryMTXBoardPort (int batteryNumber=1) const
	What port the battery is on.
const char *	getBatteryMTXBoardPortType (int batteryNumber=1) const
	What type of port the battery is on.
const char *	getBatteryMTXBoardType (int batteryNumber=1) const
	PS 8/21/12 - new code to support BatteryMTX What type of battery this is.
const char *	getClassName (void) const
	Returns the class from the parameter file.
const char *	getCompassPort () const
	Gets what port the compass is on.
const char *	getCompassType () const
	The serial port the Sonar is on. More...
bool	getConnectLaser (int laserNumber=1) const
	If the laser should be auto connected.
double	getDiffConvFactor (void) const
	Returns the wheel velocity difference to angular velocity conv factor.
double	getDistConvFactor (void) const
	Returns the distance conversion factor.
int	getGPSBaud () const
	The Baud rate to use when connecting to the GPS.
const char *	getGPSPort () const
	The serial port the GPS is on.
const char *	getGPSType () const
int	getGPSX () const
	The X (forward-back) location of the GPS (antenna) on the robot.
int	getGPSY () const
	The Y (left-right) location of the GPS (antenna) on the robot.
double	getGyroScaler (void) const
	Returns the multiplier for the Analog Gyro.
int	getIRCycles (int number) const
int	getIRType (int number) const
int	getIRX (int number) const
	Returns the X location of the given numbered IR.
int	getIRY (int number) const
	Returns the Y location of the given numbered IR.
const char *	getLaserAutoBaudChoice (int laserNumber=1) const
	Gets the string that is choice for auto baud the laser should use.
int	getLaserCumulativeBufferSize (int laserNumber=1) const
	The cumulative buffer size to use for the laser.
const char *	getLaserDegreesChoice (int laserNumber=1) const
	Gets the string that is choice for the number of degrees the laser should use.
const char *	getLaserEndDegrees (int laserNumber=1) const
	Gets the string that is the degrees the laser should end on.
bool	getLaserFlipped (int laserNumber=1) const
	If the laser is flipped on the robot.
const char *	getLaserIgnore (int laserNumber=1) const
	Gets the string that is the readings the laser should ignore.
const char *	getLaserIncrement (int laserNumber=1) const
	Gets the string that is choice for the increment the laser should use.
const char *	getLaserIncrementChoice (int laserNumber=1) const
	Gets the string that is choice for increment the laser should use.
int	getLaserMaxRange (int laserNumber=1) const
	The max range to use the laser.
const char *	getLaserPort (int laserNumber=1) const
	What port the laser is on.
const char *	getLaserPortType (int laserNumber=1) const
	What type of port the laser is on.
bool	getLaserPossessed (void) const
	Returns if the robot has a laser (according to param file) More...
bool	getLaserPowerControlled (int laserNumber=1) const
	If the laser power is controlled by the serial port lines.
const char *	getLaserPowerOutput (int laserNumber=1) const
	Gets which power output that turns the laser on/off.
const char *	getLaserReflectorBitsChoice (int laserNumber=1) const
	Gets the string that is choice for reflectorBits the laser should use.
const char *	getLaserSection (int laserNumber=1) const
	Gets the name of the section the laser information is in (this mostly doesn't mean anything except for commercial)
const char *	getLaserStartDegrees (int laserNumber=1) const
	Gets the string that is the degrees the laser should start on.
const char *	getLaserStartingBaudChoice (int laserNumber=1) const
	Gets the string that is choice for starting baud the laser should use.
double	getLaserTh (int laserNumber=1) const
	The rotation of the laser on the robot.
const char *	getLaserType (int laserNumber=1) const
	What type of laser this is.
const char *	getLaserUnitsChoice (int laserNumber=1) const
	Gets the string that is choice for units the laser should use.
int	getLaserX (int laserNumber=1) const
	The X location of the laser.
int	getLaserY (int laserNumber=1) const
	The Y location of the laser.
int	getLaserZ (int laserNumber=1) const
	The height of the laser off of the ground (0 means unknown)
int	getLatAccel (void) const
	Gets the lat accel from param file (0 uses microcontroller param)
int	getLatDecel (void) const
	Gets the lat decel from param file (0 uses microcontroller param)
int	getLatVelMax (void) const
	Gets the max lat vel from param file (0 uses microcontroller param)
bool	getLCDMTXBoardAutoConn (int lcdNumber=1) const
	Gets a bool that specifies weather to auto connect or not.
int	getLCDMTXBoardBaud (int lcdNumber=1) const
	Gets the int that is the baud for the lcd.
bool	getLCDMTXBoardConnFailOption (int lcdNumber=1) const
	Gets a bool that specifies weather to disconnect on conn failure or not.
const char *	getLCDMTXBoardPort (int lcdNumber=1) const
	What port the lcd is on.
const char *	getLCDMTXBoardPortType (int lcdNumber=1) const
	What type of port the lcd is on.
const char *	getLCDMTXBoardPowerOutput (int lcdNumber=1) const
	Gets which power controls this LCD.
const char *	getLCDMTXBoardType (int lcdNumber=1) const
	PS 9/4/12 - new code to support LCDMTX What type of LCD this is.
int	getNumIR (void) const
	Returns the number of IRs.
int	getNumSonar (void) const
	Returns the number of sonar.
int	getNumSonarOnMTXBoard (int sonarBoardNum=1) const
	get number of units (ie transducers) configured on a specific board
int	getNumSonarUnits () const
	get number of units (ie transducers) configued
const std::vector< ArPTZParams > &	getPTZParams () const
	return a const reference to the PTU/PTZ parameters
double	getRangeConvFactor (void) const
	Returns the sonar range conversion factor.
bool	getRequestEncoderPackets (void) const
	Returns true if encoder packets are automatically requested upon connection to the robot.
bool	getRequestIOPackets (void) const
	Returns true if IO packets are automatically requested upon connection to the robot.
double	getRobotDiagonal (void) const
	Returns the robot diagonal (half-height to diagonal of octagon)
double	getRobotLength (void) const
	Returns the robot's length.
double	getRobotLengthFront (void) const
	Returns the robot's length to the front of the robot.
double	getRobotLengthRear (void) const
	Returns the robot's length to the rear of the robot.
double	getRobotRadius (void) const
	Returns the robot's radius.
double	getRobotWidth (void) const
	Returns the robot's width.
int	getRotAccel (void) const
	Gets the rot accel from param file (0 uses microcontroller param)
int	getRotDecel (void) const
	Gets the rot decel from param file (0 uses microcontroller param)
int	getRotVelMax (void) const
	Gets the max rot vel from param file (0 uses microcontroller param)
int	getSonarDetectionThreshold (int number) const
	Returns the noise delta of the given numbered sonar disk (only valid for MTX sonar) More...
int	getSonarGain (int number) const
	Returns the gain of the given numbered sonar disc (only valid for MTX sonar)
int	getSonarMaxRange (int number) const
	Returns the thres med of the given numbered sonar disc (only valid for MTX sonar)
int	getSonarMTXBoard (int number) const
	Returns the board a sonar is on.
bool	getSonarMTXBoardAutoConn (int sonarNumber=1) const
	Gets a bool that specifies weather to auto connect or not.
int	getSonarMTXBoardBaud (int sonarNumber=1) const
	Gets the int that is the baud for the sonar.
int	getSonarMTXBoardDelay (int sonarBoardNum=1) const
	What delay the sonar board has.
int	getSonarMTXBoardDetectionThreshold (int sonarBoardNum=1) const
	What delay the sonar has.
int	getSonarMTXBoardGain (int sonarBoardNum=1) const
	What default gain the sonar board has.
int	getSonarMTXBoardMaxRange (int sonarBoardNum=1) const
	What max range the sonar has.
const char *	getSonarMTXBoardPort (int sonarNumber=1) const
	What port the sonar is on.
const char *	getSonarMTXBoardPortType (int sonarNumber=1) const
	What type of port the sonar is on.
const char *	getSonarMTXBoardPowerOutput (int sonarBoardNum=1) const
	Gets which power output turns the sonar board on or off.
const char *	getSonarMTXBoardType (int sonarNumber=1) const
	PS 8/21/12 - new code to support SonarMTX What type of sonar this is.
int	getSonarMTXBoardUnitPosition (int number) const
	Returns the unit on the board a sonar transducer is on.
int	getSonarMTXBoardUseForAutonomousDriving (int sonarBoardNum=1) const
	What autonomous driving flage the sonar has.
int	getSonarTh (int number) const
	Returns the heading of the given numbered sonar disc.
int	getSonarUseForAutonomousDriving (int number) const
	Returns the useforautonomousdriving of the given numbered sonar disc (only valid for MTX sonar)
int	getSonarX (int number) const
	Returns the X location of the given numbered sonar disc.
int	getSonarY (int number) const
	Returns the Y location of the given numbered sonar disc.
const char *	getSubClassName (void) const
	Returns the subclass from the parameter file.
int	getSwitchToBaudRate (void) const
	Returns the baud rate set in the param to talk to the robot at.
int	getTransAccel (void) const
	Gets the trans accel from param file (0 uses microcontroller param)
int	getTransDecel (void) const
	Gets the trans decel from param file (0 uses microcontroller param)
int	getTransVelMax (void) const
	Gets the max trans vel from param file (0 uses microcontroller param)
double	getVel2Divisor (void) const
	Returns the multiplier for VEL2 commands.
double	getVelConvFactor (void) const
	Returns the velocity conversion factor.
const std::vector< ArVideoParams > &	getVideoParams () const
	return a const reference to the video device parameters
bool	hasLatVel (void) const
	Whether we have lateral control or not.
bool	hasMoveCommand (void) const
	Returns if the robot has a built in move command.
bool	hasSettableAccsDecs (void) const
	Whether the accelerations and decelerations are settable or not.
bool	hasSettableVelMaxes (void) const
	Gets whether the VelMax values are settable or not.
bool	haveFrontBumpers (void) const
	Returns true if the robot has front bumpers.
bool	haveIR (int number) const
	Returns if the IR of the given number is valid.
bool	haveNewTableSensingIR (void) const
	Returns true if the robot's table sensing IR bits are sent in the 4th-byte of the IO packet.
bool	haveRearBumpers (void) const
	Returns true if the robot has rear bumpers.
bool	haveSonar (int boardNum) const
	MPL TODO discuss boardNum here? Returns if the sonar of the given number is valid.
bool	haveTableSensingIR (void) const
	Returns true if the robot has table sensing IR.
void	internalAddToConfigCommercial (ArConfig *config)
	Adds things to the config for the commercial software. More...
void	internalAddToConfigDefault (void)
	Internal call that adds to this config the same way it's always been done (this is only exposed for some internal testing) More...
double *	internalGetDistConvFactorPointer (void)
	For internal use only, gets a pointer to the dist conv factor value.
bool	isHolonomic (void) const
	Returns whether the robot is holonomic or not.
int	numFrontBumpers (void) const
	Returns the number of front bumpers.
int	numRearBumpers (void) const
	Returns the number of rear bumpers.
bool	save (void)
	Saves it to the subtype.p in Aria::getDirectory/params.
virtual	~ArRobotParams ()
	Destructor.
Public Member Functions inherited from ArConfig
bool	addComment (const char *comment, const char *sectionName="", ArPriority::Priority priority=ArPriority::NORMAL)
	Command to add a new comment to the given section with given priority. More...
bool	addParam (const ArConfigArg &arg, const char *sectionName="", ArPriority::Priority priority=ArPriority::NORMAL, const char *displayHint=NULL, ArConfigArg::RestartLevel restart=ArConfigArg::NO_RESTART)
	Command to add a parameter to the given section with given priority. More...
bool	addParamAsIs (const ArConfigArg &arg, const char *sectionName="")
	Adds a parameter that has all the other information on it already set. More...
void	addProcessFileCB (ArRetFunctor< bool > *functor, int priority=0)
	Adds a callback to be invoked when the configuration is loaded or reloaded. More...
void	addProcessFileCB (ArRetFunctor2< bool, char *, size_t > *functor, int priority=0)
	Adds a callback to be invoked when the configuration is loaded or reloaded.... More...
void	addProcessFileWithErrorCB (ArRetFunctor2< bool, char *, size_t > *functor, int priority=0)
	Adds a callback to be invoked when the configuration is loaded or reloaded, which may also receive error messages. More...
bool	addSection (const char *categoryName, const char *sectionName, const char *sectionDescription)
	Command to add a section and its description to the specified category. More...
bool	addSectionFlags (const char *sectionName, const char *flags)
	adds a flag to a section More...
void	addSectionNotToParse (const char *section)
	Adds a section for this config to always skip.
	ArConfig (const char *baseDirectory=NULL, bool noBlanksBetweenParams=false, bool ignoreBounds=false, bool failOnBadSection=false, bool saveUnknown=true)
	Constructor. More...
	ArConfig (const ArConfig &config)
	Copy constructor.
bool	callProcessFileCallBacks (bool continueOnError, char *errorBuffer=NULL, size_t errorBufferLen=0)
	Call the processFileCBs.
void	clearAll (void)
	Clears out all the section information and the processFileCBs.
void	clearAllValueSet (void)
	calls clearValueSet on the whole config (internal for default configs)
void	clearSections (void)
	Clears out all the section information.
virtual void	copyAndDetach (const ArConfig &config)
	Copies the given config to this one, detaching any pointers so they are not shared.
ArConfigSection *	findSection (const char *sectionName) const
	Find the section with the given name. More...
const char *	getBaseDirectory (void) const
	Get the base directory.
std::list< std::string >	getCategoryNames () const
	Returns the list of categories contained in this config.
const char *	getFileName (void) const
	Get the file name we loaded.
bool	getNoBlanksBetweenParams (void)
	Get whether we have blanks between the params or not.
ArLog::LogLevel	getProcessFileCallbacksLogLevel (void)
	Get the log level used when loading or reloading the configuration.
ArConfigArg::RestartLevel	getRestartLevelNeeded (void) const
	Gets the restart level needed.
bool	getSaveUnknown (void)
	Gets whether we save unknowns (if we don't save 'em we ignore 'em)
std::list< std::string >	getSectionNames () const
	Returns the names of all sections in the config.
std::list< std::string >	getSectionNamesInCategory (const char *categoryName) const
	Returns the names of the sections that have been added to the specified category. More...
std::list< ArConfigSection * > *	getSections (void)
	Get the sections themselves (use only if you know what to do)
virtual ArConfig *	getTranslator () const
	Returns the associated translator config, or NULL if none.
void	log (bool isSummary=true, std::list< std::string > *sectionNameList=NULL, const char *logPrefix="")
	Logs the config. More...
ArConfig &	operator= (const ArConfig &config)
	Assignment operator.
bool	parseArgument (ArArgumentBuilder *arg, char *errorBuffer=NULL, size_t errorBufferLen=0)
	This parses the argument given (for parser or other use) More...
bool	parseArgumentParser (ArArgumentParser *parser, bool continueOnError=false, char *errorBuffer=NULL, size_t errorBufferLen=0)
	Use an argument parser to change the config.
bool	parseFile (const char *fileName, bool continueOnError=false, bool noFileNotFoundMessage=false, char *errorBuffer=NULL, size_t errorBufferLen=0, std::list< std::string > *sectionsToParse=NULL, ArPriority::Priority highestPriority=ArPriority::FIRST_PRIORITY, ArPriority::Priority lowestPriority=ArPriority::LAST_PRIORITY, ArConfigArg::RestartLevel *restartLevelNeeded=NULL)
	Parse a config file. More...
bool	parseListBegin (ArArgumentBuilder *arg, char *errorBuffer, size_t errorBufferLen)
bool	parseListEnd (ArArgumentBuilder *arg, char *errorBuffer, size_t errorBufferLen)
bool	parseResourceFile (const char *fileName, bool continueOnError=true, char *errorBuffer=NULL, size_t errorBufferLen=0, std::list< std::string > *sectionsToParse=NULL)
	Parse a config resource file, for translation.
void	parseResourceFile (ArArgumentBuilder *builder)
	Parse a config resource file with parameters suitable for custom commands.
bool	parseSection (ArArgumentBuilder *arg, char *errorBuffer=NULL, size_t errorBufferLen=0)
	This parses the section change (for parser or other use) More...
bool	parseUnknown (ArArgumentBuilder *arg, char *errorBuffer=NULL, size_t errorBufferLen=0)
	This parses an unknown argument (so we can save it) More...
bool	parseVersion (ArArgumentBuilder *arg, char *errorBuffer=NULL, size_t errorBufferLen=0)
	Parses the config file version information.
virtual bool	processFile (void)
	for inheritors this is called after the file is processed More...
void	removeAllUnsetSections (void)
	Removes all values from sections in which no value has been set (internal)
void	removeAllUnsetValues (void)
	Removes all unset values from the config (internal for default configs)
void	remProcessFileCB (ArRetFunctor< bool > *functor)
	Removes a processedFile callback. More...
void	remProcessFileCB (ArRetFunctor2< bool, char *, size_t > *functor)
	Removes a processedFile callback. More...
bool	remSectionFlag (const char *sectionName, const char *flag)
	Removes a flag from a section. More...
void	remSectionNotToParse (const char *section)
	Removes a section for this config to always skip.
void	resetRestartLevelNeeded (void)
	Gets the restart level needed.
void	setBaseDirectory (const char *baseDirectory)
	Set the base directory.
virtual void	setConfigName (const char *configName, const char *robotName=NULL)
	Stores an optional config and robot name to be used in log messages. More...
void	setNoBlanksBetweenParams (bool noBlanksBetweenParams)
	Set whether we have blanks between the params or not.
void	setPermissions (bool allowFactory=true, bool rememberUnknowns=true)
	Sets permissions on some things. More...
void	setProcessFileCallbacksLogLevel (ArLog::LogLevel level)
	Set the log level used when loading or reloading the configuration.
virtual void	setQuiet (bool isQuiet)
	Turn on this flag to reduce the number of verbose log messages.
void	setSaveUnknown (bool saveUnknown)
	Sets whether we save unknown items (if we don't save 'em we ignore 'em)
void	setSectionComment (const char *sectionName, const char *comment)
	Sets the comment for a section. More...
virtual void	setTranslator (ArConfig *xlatorConfig)
	Sets an associate config that provides translations for each parameter (as read from a resource file).
void	useArgumentParser (ArArgumentParser *parser)
	Uses this argument parser after it parses a file before it processes. More...
bool	writeFile (const char *fileName, bool append=false, std::set< std::string > *alreadyWritten=NULL, bool writeExtras=false, std::list< std::string > *sectionsToWrite=NULL, ArPriority::Priority highestPriority=ArPriority::FIRST_PRIORITY, ArPriority::Priority lowestPriority=ArPriority::LAST_PRIORITY)
	Write out a config file. More...
bool	writeResourceFile (const char *fileName, bool append=false, std::set< std::string > *alreadyWritten=NULL, std::list< std::string > *sectionsToWrite=NULL)
	Write a config resource file, for translation.
void	writeResourceFile (ArArgumentBuilder *builder)
	Write a config resource file with parameters suitable for custom commands.
virtual	~ArConfig ()
	Destructor.
Public Member Functions inherited from ArHasFileName
	ArHasFileName ()
	Constructor.
	ArHasFileName (ArHasFileName const &)
	Copy constructor.
ArHasFileName &	operator= (ArHasFileName const &)
	Assignment operator.
virtual	~ArHasFileName ()
	Destructor.

Static Public Member Functions
static bool	internalGetUseDefaultBehavior (void)
	Internal function to get if we use the default behavior (shouldn't be used outside of core developers)
static void	internalSetUseDefaultBehavior (bool useDefaultBehavior, const char *owerOutputDisplayHint)
	Internal function to set if we use the default behavior (shouldn't be used outside of core developers)

Protected Types
enum	IRInfo { IR_X, IR_Y, IR_TYPE, IR_CYCLES }
enum	SonarInfo {   SONAR_X, SONAR_Y, SONAR_TH, SONAR_BOARD,   SONAR_BOARDUNITPOSITION, SONAR_GAIN, SONAR_DETECTION_THRESHOLD, SONAR_MAX_RANGE,   SONAR_USE_FOR_AUTONOMOUS_DRIVING }

Protected Member Functions
void	addBatteryToConfig (int batteryNumber, ArConfig *config, bool useDefaultBehavior)
void	addLaserToConfig (int laserNumber, ArConfig *config, bool useDefaultBehavior, const char *section)
void	addLCDToConfig (int lcdNumber, ArConfig *config, bool useDefaultBehavior)
void	addPTZToConfig (int i, ArConfig *config)
void	addSonarBoardToConfig (int sonarBoardNumber, ArConfig *config, bool useDefaultBehavior)
void	addSonarToConfigCommercial (ArConfig *config, bool isMTXSonar)
void	addVideoToConfig (int i, ArConfig *config)
bool	commercialProcessFile (void)
const BatteryMTXBoardData *	getBatteryMTXBoardData (int batteryBoardNum) const
BatteryMTXBoardData *	getBatteryMTXBoardData (int batteryBoardNum)
const std::list< ArArgumentBuilder * > *	getIRUnits (void)
const LaserData *	getLaserData (int laserNumber) const
LaserData *	getLaserData (int laserNumber)
const LCDMTXBoardData *	getLCDMTXBoardData (int lcdBoardNum) const
LCDMTXBoardData *	getLCDMTXBoardData (int lcdBoardNum)
const SonarMTXBoardData *	getSonarMTXBoardData (int sonarBoardNum) const
SonarMTXBoardData *	getSonarMTXBoardData (int sonarBoardNum)
const std::list< ArArgumentBuilder * > *	getSonarUnits (void)
void	internalSetIR (int num, int type, int cycles, int x, int y)
void	internalSetSonar (int num, int x, int y, int th)
bool	parseIRUnit (ArArgumentBuilder *builder)
bool	parseMTXSonarUnit (ArArgumentBuilder *builder)
bool	parseSonarUnit (ArArgumentBuilder *builder)
void	processSonarCommercial (ArConfig *config)
Protected Member Functions inherited from ArConfig
void	addListNamesToParser (const ArConfigArg &parent)
void	addParserHandlers (void)
void	copySectionsToParse (std::list< std::string > *from)
void	removeAllUnsetValues (bool isRemovingUnsetSectionsOnly)
	Removes unset values from the config. More...
void	remParserHandlers (void)
void	translateSection (ArConfigSection *section)
void	writeSection (ArConfigSection *section, FILE *file, std::set< std::string > *alreadyWritten, bool writeExtras, ArPriority::Priority highestPriority, ArPriority::Priority lowestPriority)
	Write out a section. More...
void	writeSectionResource (ArConfigSection *section, FILE *file, std::set< std::string > *alreadyWritten)
	Write out a section in CSV format for translation. More...

Protected Attributes
int	myAbsoluteMaxLatVelocity
int	myAbsoluteMaxRVelocity
int	myAbsoluteMaxVelocity
double	myAngleConvFactor
int	myBatteryMTXBoardCount
std::map< int, BatteryMTXBoardData * >	myBatteryMTXBoards
char	myClass [1024]
bool	myCommercialAddedConnectables
ArConfig *	myCommercialConfig
int	myCommercialMaxNumberOfBatteries
int	myCommercialMaxNumberOfLasers
int	myCommercialMaxNumberOfLCDs
int	myCommercialMaxNumberOfSonarBoards
int	myCommercialNumSonar
bool	myCommercialProcessedSonar
ArRetFunctorC< bool, ArRobotParams >	myCommercialProcessFileCB
std::map< int, int >	myCommercialSonarFieldMap
	This lets us just have a straight mapping from the child argument number to the sonar map above.
char	myCompassPort [256]
char	myCompassType [256]
double	myDiffConvFactor
double	myDistConvFactor
bool	myFrontBumpers
std::list< ArArgumentBuilder * >	myGetIRUnitList
std::list< ArArgumentBuilder * >	myGetSonarUnitList
int	myGPSBaud
char	myGPSPort [256]
bool	myGPSPossessed
char	myGPSType [256]
int	myGPSX
int	myGPSY
double	myGyroScaler
bool	myHasLatVel
bool	myHaveMoveCommand
bool	myHolonomic
std::map< int, std::map< int, int > >	myIRMap
ArRetFunctorC< const std::list< ArArgumentBuilder * > *, ArRobotParams >	myIRUnitGetFunctor
ArRetFunctor1C< bool, ArRobotParams, ArArgumentBuilder * >	myIRUnitSetFunctor
std::map< int, LaserData * >	myLasers
int	myLatAccel
int	myLatDecel
int	myLatVelMax
int	myLCDMTXBoardCount
std::map< int, LCDMTXBoardData * >	myLCDMTXBoards
bool	myNewTableSensingIR
int	myNumFrontBumpers
int	myNumIR
int	myNumRearBumpers
int	myNumSonar
int	myNumSonarUnits
std::vector< ArPTZParams >	myPTZParams
double	myRangeConvFactor
bool	myRearBumpers
bool	myRequestEncoderPackets
bool	myRequestIOPackets
double	myRobotDiagonal
double	myRobotLength
double	myRobotLengthFront
double	myRobotLengthRear
double	myRobotRadius
double	myRobotWidth
int	myRotAccel
int	myRotDecel
int	myRotVelMax
bool	mySettableAccsDecs
bool	mySettableVelMaxes
int	mySonarBoardCount
std::map< int, std::map< int, int > >	mySonarMap
int	mySonarMTXBoardCount
std::map< int, SonarMTXBoardData * >	mySonarMTXBoards
ArRetFunctorC< const std::list< ArArgumentBuilder * > *, ArRobotParams >	mySonarUnitGetFunctor
ArRetFunctor1C< bool, ArRobotParams, ArArgumentBuilder * >	mySonarUnitSetFunctor
char	mySubClass [1024]
int	mySwitchToBaudRate
bool	myTableSensingIR
int	myTransAccel
int	myTransDecel
int	myTransVelMax
double	myVel2Divisor
double	myVelConvFactor
std::vector< ArVideoParams >	myVideoParams
Protected Attributes inherited from ArConfig
ArArgumentParser *	myArgumentParser
std::string	myBaseDirectory
std::map< std::string, std::list< std::string > >	myCategoryToSectionsMap
	Map that defines the section names contained in each category.
bool	myCheckingForRestartLevel
std::string	myConfigName
	Optional name of the config instance.
std::string	myConfigVersion
	Version information read from config file.
char	myCsvSeparatorChar
bool	myDuplicateParams
bool	myFailOnBadSection
std::string	myFileName
ArPriority::Priority	myHighestPriorityToParse
bool	myIgnoreBounds
bool	myIsParsingListBroken
bool	myIsQuiet
ArRetFunctor3C< bool, ArConfig, ArArgumentBuilder *, char *, size_t >	myListBeginCB
ArRetFunctor3C< bool, ArConfig, ArArgumentBuilder *, char *, size_t >	myListEndCB
std::string	myLogPrefix
	Prefix to be inserted in log messages (contains the robot and config names).
ArPriority::Priority	myLowestPriorityToParse
bool	myNoBlanksBetweenParams
ArFileParser	myParser
ArRetFunctor3C< bool, ArConfig, ArArgumentBuilder *, char *, size_t >	myParserCB
std::list< std::string >	myParsingListNames
bool	myPermissionAllowFactory
bool	myPermissionSaveUnknown
ArLog::LogLevel	myProcessFileCallbacksLogLevel
std::multimap< int, ProcessFileCBType * >	myProcessFileCBList
ArConfigArg::RestartLevel	myRestartLevelNeeded
std::string	myRobotName
	Optional name of the robot with which the config is associated.
bool	mySaveUnknown
std::string	mySection
bool	mySectionBroken
ArRetFunctor3C< bool, ArConfig, ArArgumentBuilder *, char *, size_t >	mySectionCB
bool	mySectionIgnored
std::list< ArConfigSection * >	mySections
std::set< std::string >	mySectionsNotToParse
std::list< std::string > *	mySectionsToParse
ArConfig *	myTranslator
ArRetFunctor3C< bool, ArConfig, ArArgumentBuilder *, char *, size_t >	myUnknownCB
bool	myUsingSections
ArRetFunctor3C< bool, ArConfig, ArArgumentBuilder *, char *, size_t >	myVersionCB

Static Protected Attributes
static std::string	ourPowerOutputChoices
static bool	ourUseDefaultBehavior = true

Additional Inherited Members
Static Public Attributes inherited from ArConfig
static const char *	CATEGORY_DEBUG = "Debug"
	Sections related to debug, including logging, replay, etc.
static const char *	CATEGORY_FLEET = "Enterprise"
	Sections related to the fleet, enterprise manager, etc.
static const char *	CATEGORY_ROBOT_INTERFACE = "Robot Interface"
	Sections related to I/O, ARCL, display, network communication, etc.
static const char *	CATEGORY_ROBOT_OPERATION = "Robot Operation"
	Sections related to robot behavior, docking, driving, navigation, etc.
static const char *	CATEGORY_ROBOT_PHYSICAL = "Robot Physical"
	Sections related to the robot hardware and its sensors/accessories.
static const char *	CATEGORY_SECURITY = "Security"
	Sections related to security.

Detailed Description

Stores parameters read from the robot's parameter files.

Use ArRobot::getRobotParams() after a successful robot connection to obtain a pointer to an ArRobotParams instance containing the values read from the files.

See Robot Parameter Files for a description of the robot parameter files.

ArRobotParams is a subclass of ArConfig which contains some useful methods and features.

Member Function Documentation

addLCDToConfig()

void ArRobotParams::addLCDToConfig ( int  lcdNumber, ArConfig *  config, bool  useDefaultBehavior  )

protected

MPL TODO what's this for?

MPL TODO remove, this is already set in the constructor

MPL TODO remove, this is already set in the constructor

addSonarBoardToConfig()

void ArRobotParams::addSonarBoardToConfig ( int  sonarBoardNumber, ArConfig *  config, bool  useDefaultBehavior  )

protected

MPL TODO what's this do?

MPL TODO remove this next line (it's in the constructor

MPL Remove this, it's in the constructor

MPL Remove this sonar gain, it's in the constructor

getCompassType()

const char* ArRobotParams::getCompassType ( ) const

inline

The serial port the Sonar is on.

What kind of compass the robot has

getLaserPossessed()

bool ArRobotParams::getLaserPossessed ( void  ) const

inline

Returns if the robot has a laser (according to param file)

Deprecated:

getSonarDetectionThreshold()

int ArRobotParams::getSonarDetectionThreshold ( int  number ) const

inline

Returns the noise delta of the given numbered sonar disk (only valid for MTX sonar)

Returns the detection threshold of the given numbered sonar disc (only valid for MTX sonar)

internalAddToConfigCommercial()

void ArRobotParams::internalAddToConfigCommercial

(

ArConfig *

config

)

Adds things to the config for the commercial software.

reset some values from their default

these probably aren't actually used anywhere, but just in case

internalAddToConfigDefault()

void ArRobotParams::internalAddToConfigDefault

(

void

)

Internal call that adds to this config the same way it's always been done (this is only exposed for some internal testing)

PTZ parameters here too

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

• ArRobotParams.h
• ArRobotParams.cpp