The Robot Module (robot)

The CARMEN robot module the provides an abstract view to the hardware. More...

Files
file	robot_central.h
	Library for robot.
file	robot_interface.h
	Definition of the interface of the module robot.
file	robot_messages.h
	Definition of the messages for this module.
Data Structures
struct	carmen_robot_sonar_message
struct	carmen_robot_bumper_message
struct	carmen_robot_laser_message
struct	carmen_robot_vector_status_message
struct	carmen_robot_velocity_message
struct	carmen_robot_follow_trajectory_message
struct	carmen_robot_vector_move_message
Defines
#define	CARMEN_ROBOT_MAX_READINGS   5
#define	CARMEN_ROBOT_ESTIMATES_CONVERGE   (CARMEN_ROBOT_MAX_READINGS+25)
#define	CARMEN_ROBOT_ALL_STOP   1
#define	CARMEN_ROBOT_ALLOW_ROTATE   2
#define	CARMEN_ROBOT_MIN_ALLOWED_VELOCITY   0.03
#define	CARMEN_ROBOT_ODOMETRY_AVERAGE   0
#define	CARMEN_ROBOT_FRONT_LASER_AVERAGE   1
#define	CARMEN_ROBOT_REAR_LASER_AVERAGE   2
#define	CARMEN_ROBOT_BUMPER_AVERAGE   3
#define	CARMEN_ROBOT_SONAR_AVERAGE   4
#define	CARMEN_ROBOT_SONAR_NAME   "robot_sonar"
#define	CARMEN_ROBOT_SONAR_FMT   "{int,double,<double:1>,<{double,double,double}:1>,{double,double,double},double,double,double,string}"
#define	CARMEN_ROBOT_BUMPER_NAME   "carmen_robot_bumper"
#define	CARMEN_ROBOT_BUMPER_FMT   "{int, <char:1>, {double,double,double}, double, double, double, string}"
#define	CARMEN_ROBOT_LASER_FMT   "{{int,double,double,double,double,double,int},int,<float:2>,<char:2>,int,<float:5>,{double,double,double},{double,double,double},double,double,double,double,double,double,string}"
#define	CARMEN_ROBOT_FRONTLASER_NAME   "carmen_robot_frontlaser"
#define	CARMEN_ROBOT_FRONTLASER_FMT   CARMEN_ROBOT_LASER_FMT
#define	CARMEN_ROBOT_REARLASER_NAME   "carmen_robot_rearlaser"
#define	CARMEN_ROBOT_REARLASER_FMT   CARMEN_ROBOT_LASER_FMT
#define	CARMEN_ROBOT_VECTOR_STATUS_NAME   "carmen_robot_vector_status"
#define	CARMEN_ROBOT_VECTOR_STATUS_FMT   "{double, double, double, string}"
#define	CARMEN_ROBOT_VELOCITY_NAME   "carmen_robot_vel"
#define	CARMEN_ROBOT_VELOCITY_FMT   "{double,double,double,string}"
#define	CARMEN_ROBOT_FOLLOW_TRAJECTORY_NAME   "carmen_robot_follow_trajectory"
#define	CARMEN_ROBOT_FOLLOW_TRAJECTORY_FMT   "{int,<{double,double,double,double,double}:1>,{double,double,double,double,double},double,string}"
#define	CARMEN_ROBOT_VECTOR_MOVE_NAME   "carmen_robot_vector_move"
#define	CARMEN_ROBOT_VECTOR_MOVE_FMT   "{double,double,double,string}"
Functions
double	carmen_robot_get_fraction (double timestamp, double skew, int *low, int *high)
int	carmen_robot_get_skew (int msg_count, double *skew, int data_type, char *hostname)
void	carmen_robot_update_skew (int data_type, int *count, double time, char *hostname)
void	carmen_robot_subscribe_frontlaser_message (carmen_robot_laser_message *laser, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	carmen_robot_subscribe_rearlaser_message (carmen_robot_laser_message *laser, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	carmen_robot_subscribe_sonar_message (carmen_robot_sonar_message *sonar, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	carmen_robot_subscribe_vector_status_message (carmen_robot_vector_status_message *vector, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	carmen_robot_subscribe_base_binary_data_message (carmen_base_binary_data_message *base_data, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	carmen_robot_velocity_command (double tv, double rv)
void	carmen_robot_move_along_vector (double distance, double theta)
void	carmen_robot_follow_trajectory (carmen_traj_point_t *trajectory, int trajectory_length, carmen_traj_point_t *robot)
void	carmen_robot_send_base_binary_command (unsigned char *data, int length)
Variables
carmen_base_odometry_message	carmen_robot_latest_odometry
carmen_base_odometry_message	carmen_robot_odometry [CARMEN_ROBOT_MAX_READINGS]
int	carmen_robot_position_received
int	carmen_robot_converge
carmen_robot_config_t	carmen_robot_config
char *	carmen_robot_host
double	carmen_robot_collision_avoidance_frequency
double	carmen_robot_sensor_time_of_last_update

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Detailed Description

The CARMEN robot module the provides an abstract view to the hardware.

The module robot the provides an abstract view to the hardware. It combines the odometry information with the laser data...

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