ArTCMCompassRobot Class Reference
Interface to a TCM 2/2.5/2.6 3-axis compass through the robot microcontroller. More...
#include <ArTCMCompassRobot.h>
Inherits ArTCM2.
Public Member Functions | |
| ArTCMCompassRobot (ArRobot *robot) | |
| virtual void | commandAutoCalibration (void) |
| virtual void | commandContinuousPackets (void) |
| virtual void | commandJustCompass (void) |
| virtual void | commandOff (void) |
| virtual void | commandOnePacket (void) |
| virtual void | commandSoftReset (void) |
| virtual void | commandStopCalibration (void) |
| virtual void | commandUserCalibration (void) |
 Public Member Functions inherited from ArTCM2 | |
| void | addHeadingDataCallback (ArFunctor1< double > *f) |
| virtual bool | blockingConnect (unsigned long connectTimeout=5000) |
| If a connection/initialization procedure is required, perform it, wait until data is recieved from the compass, and return true on success, false on failure. More... | |
| virtual bool | connect () |
| If a connection/initialization procedure is required, perform it, and return true on success, false on failure. More... | |
| double | getCalibrationH (void) const |
| Get the calibration H score (See TCM Manual) | |
| double | getCalibrationM (void) const |
| Get the calibration M score (See TCM Manual) | |
| double | getCalibrationV (void) const |
| Get the calibration V score (See TCM Manual) | |
| double | getCompass (void) const |
| Get the compass heading (-180, 180] degrees. More... | |
| int | getError (void) const |
| double | getHeading (void) const |
| Get the compass heading (-180, 180] degrees. | |
| int | getPacCount (void) |
| Gets the number of readings recieved in the last second. | |
| double | getPitch (void) const |
| Get the pitch (-180,180] degrees. | |
| double | getRoll (void) const |
| Get the roll (-180,180] degrees. | |
| double | getTemperature (void) const |
| Get the temperature (degrees C) | |
| double | getXMagnetic (void) const |
| Get the magnetic field X component (See TCM2 Manual) | |
| double | getYMagnetic (void) const |
| Get the magnetic field Y component (See TCM2 Manual) | |
| double | getZMagnetic (void) const |
| Get the magnetic field Z component (See TCM2 Manual) | |
| bool | haveCalibrationH () const |
| bool | haveCalibrationM () const |
| bool | haveCalibrationV () const |
| bool | haveHeading () const |
| bool | havePitch () const |
| bool | haveRoll () const |
| bool | haveTemperature () const |
| bool | haveXMagnetic () const |
| bool | haveYMagnetic () const |
| bool | haveZMagnetic () const |
Additional Inherited Members | |
| Protected Member Functions inherited from ArTCM2 | |
| void | incrementPacketCount () |
| void | invokeHeadingDataCallbacks (double heading) |
| Protected Attributes inherited from ArTCM2 | |
| double | myCalibrationH |
| double | myCalibrationM |
| double | myCalibrationV |
| int | myError |
| bool | myHaveCalibrationH |
| bool | myHaveCalibrationM |
| bool | myHaveCalibrationV |
| bool | myHaveHeading |
| bool | myHavePitch |
| bool | myHaveRoll |
| bool | myHaveTemperature |
| bool | myHaveXMag |
| bool | myHaveYMag |
| bool | myHaveZMag |
| double | myHeading |
| std::list< ArFunctor1< double > *> | myHeadingDataCallbacks |
| int | myPacCount |
| int | myPacCurrentCount |
| double | myPitch |
| double | myRoll |
| double | myTemperature |
| time_t | myTimeLastPacket |
| double | myXMag |
| double | myYMag |
| double | myZMag |
Detailed Description
Interface to a TCM 2/2.5/2.6 3-axis compass through the robot microcontroller.
When a Pioneer robot is equipped with a TCM compass, it is typically connected to the robot microcontroller, which returns compass information in compass data packets upon request (set compass mode/type to 2 or 3 in firmware configuration; mode 1 (data in SIP) is not supported by ARIA). This class communicates with the robot microcontroller to configure the compass and recieve data from it.
The documentation for this class was generated from the following files:
- ArTCMCompassRobot.h
- ArTCMCompassRobot.cpp
