From 4a456b4ab22838a3c2be0f3060ae635ebf3db20c Mon Sep 17 00:00:00 2001 From: abhaybd Date: Fri, 29 Sep 2023 01:46:52 +0000 Subject: [PATCH] deploy: 6255cd01088df46a52b6a1545af2b286b3048385 --- ArduPilotProtocol_8h_source.html | 2 +- CANMotor_8h_source.html | 2 +- CAN_8h_source.html | 2 +- Constants_8h_source.html | 4 +- Globals_8h_source.html | 2 +- MissionControlProtocol_8h_source.html | 2 +- base__motor_8h_source.html | 4 +- can__motor_8h_source.html | 4 +- classGPSDatum__coll__graph.png | Bin 3647 -> 3623 bytes ..._1invalid__camera__config__coll__graph.png | Bin 4668 -> 4663 bytes ...nvalid__camera__config__inherit__graph.png | Bin 4668 -> 4663 bytes ...ommands_1_1CommandBase__inherit__graph.png | Bin 6579 -> 6574 bytes ...1_1DriveToWaypointCommand__coll__graph.png | Bin 6641 -> 6641 bytes ...DriveToWaypointCommand__inherit__graph.png | Bin 6641 -> 6641 bytes classfilters_1_1ExtendedKalmanFilter.html | 12 +- ...s_1_1ExtendedKalmanFilter__coll__graph.map | 12 +- 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| 157 +- 130 files changed, 2119 insertions(+), 1944 deletions(-) diff --git a/ArduPilotProtocol_8h_source.html b/ArduPilotProtocol_8h_source.html index 00896a62a..75c03e58b 100644 --- a/ArduPilotProtocol_8h_source.html +++ b/ArduPilotProtocol_8h_source.html @@ -209,7 +209,7 @@
net::ardupilot::ArduPilotProtocol
Definition ArduPilotProtocol.h:13
net::websocket::SingleClientWSServer
A WebSocket server class that only accepts a single client at a time to each endpoint served by this ...
Definition WebSocketServer.h:34
nlohmann::basic_json
-
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:111
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:114
diff --git a/CANMotor_8h_source.html b/CANMotor_8h_source.html index b4d0da389..14870afa1 100644 --- a/CANMotor_8h_source.html +++ b/CANMotor_8h_source.html @@ -149,7 +149,7 @@ -
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:111
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:114
can::motor
Utilities for interacting with motor boards over a CAN interface.
Definition CANMotor.cpp:20
can::motor::pullMotorPosition
void pullMotorPosition(deviceserial_t serial)
Poll the position data from a motor board.
Definition CANMotor.cpp:98
can::motor::setMotorPower
void setMotorPower(deviceserial_t serial, double power)
Set the power output of a motor board.
Definition CANMotor.cpp:67
diff --git a/CAN_8h_source.html b/CAN_8h_source.html index 04702f241..9a762c98f 100644 --- a/CAN_8h_source.html +++ b/CAN_8h_source.html @@ -134,7 +134,7 @@ -
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:111
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:114
can
Utilities for interacting with CAN devices.
Definition CAN.cpp:42
can::unscheduleTelemetryPull
void unscheduleTelemetryPull(deviceid_t id, telemtype_t telemType)
Stop pulling the latest telemetry data from the given device.
Definition CAN.cpp:332
can::getDeviceTelemetry
robot::types::DataPoint< telemetry_t > getDeviceTelemetry(deviceid_t id, telemtype_t telemType)
Get the latest telemetry from a CAN device.
Definition CAN.cpp:280
diff --git a/Constants_8h_source.html b/Constants_8h_source.html index 0499eb924..9d953a7e7 100644 --- a/Constants_8h_source.html +++ b/Constants_8h_source.html @@ -236,8 +236,8 @@
kinematics::DiffDriveKinematics::wheelVelToRobotVel
navtypes::pose_t wheelVelToRobotVel(double lVel, double rVel) const
Given the left and right wheel velocities, find the robot velocity in the robot's reference frame.
Definition DiffDriveKinematics.cpp:11
uint32_t
::uint32_t uint32_t
uint16_t
::uint16_t uint16_t
-
robot::types::motorid_t
motorid_t
The motors on the robot.
Definition data.h:55
-
robot::types::CameraID
std::string CameraID
The type of a camera id.
Definition data.h:44
+
robot::types::motorid_t
motorid_t
The motors on the robot.
Definition data.h:57
+
robot::types::CameraID
std::string CameraID
The type of a camera id.
Definition data.h:46
diff --git a/Globals_8h_source.html b/Globals_8h_source.html index 89049c5b8..23151b014 100644 --- a/Globals_8h_source.html +++ b/Globals_8h_source.html @@ -122,7 +122,7 @@
control::PlanarArmController
Controller to move planar arm to a target end effector position.
Definition PlanarArmController.h:24
kinematics::PlanarArmKinematics
Kinematics object for a sequence of arm segments in a 2d plane.
Definition PlanarArmKinematics.h:19
net::websocket::SingleClientWSServer
A WebSocket server class that only accepts a single client at a time to each endpoint served by this ...
Definition WebSocketServer.h:34
-
robot::types::mountedperipheral_t
mountedperipheral_t
the mounted peripheral on the robot.
Definition data.h:70
+
robot::types::mountedperipheral_t
mountedperipheral_t
the mounted peripheral on the robot.
Definition data.h:72
diff --git a/MissionControlProtocol_8h_source.html b/MissionControlProtocol_8h_source.html index 5bbd7ae16..85ecf4e65 100644 --- a/MissionControlProtocol_8h_source.html +++ b/MissionControlProtocol_8h_source.html @@ -195,7 +195,7 @@
cam
Namespace for camera access system.
Definition Camera.cpp:13
int32_t
::int32_t int32_t
nlohmann::json
basic_json<> json
-
robot::types::CameraID
std::string CameraID
The type of a camera id.
Definition data.h:44
+
robot::types::CameraID
std::string CameraID
The type of a camera id.
Definition data.h:46
diff --git a/base__motor_8h_source.html b/base__motor_8h_source.html index b90958ebd..4524097d8 100644 --- a/base__motor_8h_source.html +++ b/base__motor_8h_source.html @@ -140,9 +140,9 @@
robot::base_motor::constructVelController
void constructVelController()
Constructs a Jacobian Vel Controller.
Definition base_motor.cpp:42
robot::base_motor::setMotorPos
virtual void setMotorPos(int32_t targetPos)=0
Set the target position of the motor.
robot::base_motor::base_motor
base_motor(const base_motor &)=delete
Delete the copy constructor.
-
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:111
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:114
int32_t
::int32_t int32_t
-
robot::types::motorid_t
motorid_t
The motors on the robot.
Definition data.h:55
+
robot::types::motorid_t
motorid_t
The motors on the robot.
Definition data.h:57
robot
Collection of functions for manipulating a motor.
Definition ArduPilotInterface.cpp:27
diff --git a/can__motor_8h_source.html b/can__motor_8h_source.html index d3e3f1203..751e5a931 100644 --- a/can__motor_8h_source.html +++ b/can__motor_8h_source.html @@ -130,11 +130,11 @@
robot::can_motor::setMotorPower
void setMotorPower(double power) override
Set the PWM command of the motor.
Definition can_motor.cpp:9
robot::can_motor::setMotorVel
void setMotorVel(int32_t targetVel) override
Sets the velocity of the motor.
Definition can_motor.cpp:34
robot::can_motor::setMotorPos
void setMotorPos(int32_t targetPos) override
Set the target position of the motor.
Definition can_motor.cpp:21
-
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:111
+
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:114
can::motor::motormode_t
motormode_t
The possible motor modes.
Definition CANMotor.h:19
can::deviceserial_t
uint8_t deviceserial_t
The type of the device serial number.
Definition CANUtils.h:64
int32_t
::int32_t int32_t
-
robot::types::motorid_t
motorid_t
The motors on the robot.
Definition data.h:55
+
robot::types::motorid_t
motorid_t
The motors on the robot.
Definition data.h:57
robot
Collection of functions for manipulating a motor.
Definition ArduPilotInterface.cpp:27
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isValid() constrobot::types::DataPoint< T >inline
operator bool() constrobot::types::DataPoint< T >inline
operator T() constrobot::types::DataPoint< T >inline
transform(const F &f)robot::types::DataPoint< T >inline
diff --git a/classrobot_1_1types_1_1DataPoint.html b/classrobot_1_1types_1_1DataPoint.html index 6146ce1e9..b295f2b0f 100644 --- a/classrobot_1_1types_1_1DataPoint.html +++ b/classrobot_1_1types_1_1DataPoint.html @@ -126,6 +126,10 @@ T getDataOrElse (T defaultData)  Get the value of this data point, defaulting to a given value if this data point is invalid.
  +template<typename F > +DataPoint< std::invoke_result_t< F, T > > transform (const F &f) + Transforms the data in this datapoint by the given function.
+ 

Detailed Description

template<typename T>
@@ -447,6 +451,51 @@

getData().

Returns
T The value of this datapoint.
+

+
+ +

◆ transform()

+ +
+
+
+template<typename T >
+
+template<typename F >
+ + + + + +
+ + + + + + + + +
DataPoint< std::invoke_result_t< F, T > > robot::types::DataPoint< T >::transform (const F & f)
+ 		+inline
+
+ +

Transforms the data in this datapoint by the given function.

+
Template Parameters
+ + +
FA callable type that accepts T and outputs some other type.
+
+
+
Parameters
+ + +
fThe function that transforms data.
+
+
+
Returns
DataPoint<std::invoke_result_t<F, T>> A new datapoint that holds the output of f(getData()) and has the same timestamp as this datapoint if it's valid, otherwise an empty datapoint.
+
The documentation for this class was generated from the following file:
    diff --git a/core_8h_source.html b/core_8h_source.html index 3f1beaa9e..527fb678f 100644 --- a/core_8h_source.html +++ b/core_8h_source.html @@ -111,15 +111,19 @@
    33}
    34
    -
    -
    47template <typename T> std::string to_string(const T& val) {
    -
    48 return std::to_string(val);
    -
    49}
    +
    47template <typename T>
    +
    +
    48std::string to_string(const T& val) {
    +
    49 return std::to_string(val);
    +
    50}
    -
    50
    -
    54frozen::string freezeStr(const std::string& str);
    -
    55
    -
    56} // namespace util
    +
    51
    +
    58template <>
    +
    59std::string to_string<bool>(const bool& val);
    +
    60
    +
    64frozen::string freezeStr(const std::string& str);
    +
    65
    +
    66} // namespace util
    @@ -132,9 +136,10 @@
    std::unordered_set::end
    iterator end() noexcept
    util
    A collection of utility functions and classes with common use-cases.
    Definition core.cpp:3
    -
    util::to_string
    std::string to_string(const T &val)
    Convert the given value to a string.
    Definition core.h:47
    -
    util::freezeStr
    frozen::string freezeStr(const std::string &str)
    Convert the given std::string to a frozen::string.
    Definition core.cpp:9
    +
    util::to_string
    std::string to_string(const T &val)
    Convert the given value to a string.
    Definition core.h:48
    +
    util::freezeStr
    frozen::string freezeStr(const std::string &str)
    Convert the given std::string to a frozen::string.
    Definition core.cpp:14
    util::almostEqual
    bool almostEqual(double a, double b, double threshold)
    Check if two numbers are approximately equal.
    Definition core.cpp:5
    +
    util::to_string< bool >
    std::string to_string< bool >(const bool &val)
    Converts a boolean to a string.
    Definition core.cpp:10
    util::keySet
    std::unordered_set< K > keySet(const std::unordered_map< K, V > &input)
    Get the keys of the given map.
    Definition core.h:28
    diff --git a/data_8h_source.html b/data_8h_source.html index 6b8df82e8..29066e7d0 100644 --- a/data_8h_source.html +++ b/data_8h_source.html @@ -97,183 +97,198 @@
    6#include <bitset>
    7#include <chrono>
    8#include <optional>
    -
    9#include <vector>
    -
    10
    -
    11#include <frozen/string.h>
    -
    12#include <frozen/unordered_map.h>
    -
    13#include <frozen/unordered_set.h>
    -
    14
    -
    15// forward declare cv::Mat instead of importing OpenCV
    -
    16// we do this to avoid unnecessarily including OpenCV in all build targets
    -
    17namespace cv {
    -
    18class Mat;
    -
    19}
    -
    20
    -
    25namespace robot::types {
    -
    26
    -
    28using dataclock = std::chrono::steady_clock;
    -
    30using datatime_t = std::chrono::time_point<dataclock>;
    -
    31
    -
    32template <typename T> class DataPoint;
    -
    33
    -
    39using landmarks_t = std::vector<DataPoint<navtypes::point_t>>;
    -
    40
    -
    42using CameraFrame = std::pair<cv::Mat, uint32_t>;
    -
    44using CameraID = std::string;
    -
    45
    -
    -
    47enum class indication_t {
    -
    48 off,
    -
    49 autonomous,
    -
    50 teleop,
    -
    51 arrivedAtDest
    -
    52};
    +
    9#include <type_traits>
    +
    10#include <vector>
    +
    11
    +
    12#include <frozen/string.h>
    +
    13#include <frozen/unordered_map.h>
    +
    14#include <frozen/unordered_set.h>
    +
    15
    +
    16// forward declare cv::Mat instead of importing OpenCV
    +
    17// we do this to avoid unnecessarily including OpenCV in all build targets
    +
    18namespace cv {
    +
    19class Mat;
    +
    20}
    +
    21
    +
    26namespace robot::types {
    +
    27
    +
    29using dataclock = std::chrono::steady_clock;
    +
    31using datatime_t = std::chrono::time_point<dataclock>;
    +
    32
    +
    33template <typename T>
    +
    34class DataPoint;
    +
    35
    +
    41using landmarks_t = std::vector<DataPoint<navtypes::point_t>>;
    +
    42
    +
    44using CameraFrame = std::pair<cv::Mat, uint32_t>;
    +
    46using CameraID = std::string;
    +
    47
    +
    +
    49enum class indication_t {
    +
    50 off,
    +
    51 autonomous,
    +
    52 teleop,
    +
    53 arrivedAtDest
    +
    54};
    -
    53
    -
    -
    55enum class motorid_t {
    -
    56 frontLeftWheel,
    -
    57 frontRightWheel,
    -
    58 rearLeftWheel,
    -
    59 rearRightWheel,
    -
    60 armBase,
    -
    61 shoulder,
    -
    62 elbow,
    -
    63 forearm,
    -
    64 wrist,
    -
    65 hand,
    -
    66 activeSuspension
    -
    67};
    +
    55
    +
    +
    57enum class motorid_t {
    +
    58 frontLeftWheel,
    +
    59 frontRightWheel,
    +
    60 rearLeftWheel,
    +
    61 rearRightWheel,
    +
    62 armBase,
    +
    63 shoulder,
    +
    64 elbow,
    +
    65 forearm,
    +
    66 wrist,
    +
    67 hand,
    +
    68 activeSuspension
    +
    69};
    -
    68
    -
    -
    70enum class mountedperipheral_t {
    -
    71 none,
    -
    72 arm,
    -
    73 armServo,
    -
    74 scienceStation,
    -
    75 lidar
    -
    76};
    +
    70
    +
    +
    72enum class mountedperipheral_t {
    +
    73 none,
    +
    74 arm,
    +
    75 armServo,
    +
    76 scienceStation,
    +
    77 lidar
    +
    78};
    -
    77
    -
    78enum class jointid_t {
    -
    79 armBase,
    -
    80 shoulder,
    -
    81 elbow,
    -
    82 forearm,
    -
    83 wrist,
    -
    84 hand,
    -
    85 activeSuspension,
    -
    86 ikForward,
    -
    87 ikUp
    -
    88};
    -
    89
    -
    90constexpr auto all_jointid_t = frozen::make_unordered_set<jointid_t>(
    -
    91 {jointid_t::armBase, jointid_t::shoulder, jointid_t::elbow, jointid_t::forearm,
    -
    92 jointid_t::wrist, jointid_t::hand, jointid_t::activeSuspension, jointid_t::ikForward,
    -
    93 jointid_t::ikUp});
    -
    94
    -
    95constexpr auto name_to_jointid = frozen::make_unordered_map<frozen::string, jointid_t>(
    -
    96 {{"armBase", jointid_t::armBase},
    -
    97 {"shoulder", jointid_t::shoulder},
    -
    98 {"elbow", jointid_t::elbow},
    -
    99 {"forearm", jointid_t::forearm},
    -
    100 {"wrist", jointid_t::wrist},
    -
    101 {"hand", jointid_t::hand},
    -
    102 {"activeSuspension", jointid_t::activeSuspension},
    -
    103 {"ikForward", jointid_t::ikForward},
    -
    104 {"ikUp", jointid_t::ikUp}});
    -
    105
    -
    -
    111template <typename T> class DataPoint {
    -
    112public:
    -
    116 DataPoint() : datapoint() {}
    -
    117
    -
    123 DataPoint(T data) : DataPoint(dataclock::now(), data) {}
    -
    124
    -
    131 DataPoint(datatime_t time, T data) : datapoint({time, data}) {}
    -
    132
    -
    -
    139 operator T() const {
    -
    140 return getData();
    -
    141 }
    +
    79
    +
    80enum class jointid_t {
    +
    81 armBase,
    +
    82 shoulder,
    +
    83 elbow,
    +
    84 forearm,
    +
    85 wrist,
    +
    86 hand,
    +
    87 activeSuspension,
    +
    88 ikForward,
    +
    89 ikUp
    +
    90};
    +
    91
    +
    92constexpr auto all_jointid_t = frozen::make_unordered_set<jointid_t>(
    +
    93 {jointid_t::armBase, jointid_t::shoulder, jointid_t::elbow, jointid_t::forearm,
    +
    94 jointid_t::wrist, jointid_t::hand, jointid_t::activeSuspension, jointid_t::ikForward,
    +
    95 jointid_t::ikUp});
    +
    96
    +
    97constexpr auto name_to_jointid = frozen::make_unordered_map<frozen::string, jointid_t>(
    +
    98 {{"armBase", jointid_t::armBase},
    +
    99 {"shoulder", jointid_t::shoulder},
    +
    100 {"elbow", jointid_t::elbow},
    +
    101 {"forearm", jointid_t::forearm},
    +
    102 {"wrist", jointid_t::wrist},
    +
    103 {"hand", jointid_t::hand},
    +
    104 {"activeSuspension", jointid_t::activeSuspension},
    +
    105 {"ikForward", jointid_t::ikForward},
    +
    106 {"ikUp", jointid_t::ikUp}});
    +
    107
    +
    113template <typename T>
    +
    +
    114class DataPoint {
    +
    115public:
    +
    119 DataPoint() : datapoint() {}
    +
    120
    +
    126 DataPoint(T data) : DataPoint(dataclock::now(), data) {}
    +
    127
    +
    134 DataPoint(datatime_t time, T data) : datapoint({time, data}) {}
    +
    135
    +
    +
    142 operator T() const {
    +
    143 return getData();
    +
    144 }
    -
    142
    -
    -
    148 operator bool() const {
    -
    149 return isValid();
    -
    150 }
    +
    145
    +
    +
    151 operator bool() const {
    +
    152 return isValid();
    +
    153 }
    -
    151
    -
    -
    159 bool isFresh(std::chrono::milliseconds duration) const {
    -
    160 return isValid() && dataclock::now() - duration <= getTime();
    -
    161 }
    +
    154
    +
    +
    162 bool isFresh(std::chrono::milliseconds duration) const {
    +
    163 return isValid() && dataclock::now() - duration <= getTime();
    +
    164 }
    -
    162
    -
    -
    168 bool isValid() const {
    -
    169 return datapoint.has_value();
    -
    170 }
    +
    165
    +
    +
    171 bool isValid() const {
    +
    172 return datapoint.has_value();
    +
    173 }
    -
    171
    -
    -
    178 datatime_t getTime() const {
    -
    179 return datapoint.value().first;
    -
    180 }
    +
    174
    +
    +
    181 datatime_t getTime() const {
    +
    182 return datapoint.value().first;
    +
    183 }
    -
    181
    -
    -
    188 T getData() const {
    -
    189 return datapoint.value().second;
    -
    190 }
    +
    184
    +
    +
    191 T getData() const {
    +
    192 return datapoint.value().second;
    +
    193 }
    -
    191
    -
    -
    199 T getDataOrElse(T defaultData) {
    -
    200 return isValid() ? getData() : defaultData;
    -
    201 }
    +
    194
    +
    +
    202 T getDataOrElse(T defaultData) {
    +
    203 return isValid() ? getData() : defaultData;
    +
    204 }
    -
    202
    -
    203private:
    -
    207 std::optional<std::pair<datatime_t, T>> datapoint;
    -
    208};
    +
    205
    +
    215 template <typename F>
    +
    +
    216 DataPoint<std::invoke_result_t<F, T>> transform(const F& f) {
    +
    217 if (isValid()) {
    +
    218 return DataPoint<std::invoke_result_t<F, T>>(getTime(), f(getData()));
    +
    219 } else {
    +
    220 return {};
    +
    221 }
    +
    222 }
    -
    209
    -
    213constexpr size_t N_LIMIT_SWITCH = 8;
    -
    214
    -
    215constexpr int LIMIT_SWITCH_LIM_MIN_IDX = 0;
    -
    216constexpr int LIMIT_SWITCH_LIM_MAX_IDX = 1;
    -
    217
    -
    -
    221class LimitSwitchData {
    -
    222public:
    -
    231 LimitSwitchData(unsigned long long data);
    -
    232
    -
    241 bool isOpen(size_t idx);
    -
    242
    -
    251 bool isClosed(size_t idx);
    -
    252
    -
    258 bool isAnyOpen();
    -
    259
    -
    265 bool isAnyClosed();
    -
    266
    -
    276 std::bitset<N_LIMIT_SWITCH> diff(const LimitSwitchData& other);
    -
    277
    -
    278private:
    -
    279 std::bitset<N_LIMIT_SWITCH> data;
    -
    280};
    +
    223
    +
    224private:
    +
    228 std::optional<std::pair<datatime_t, T>> datapoint;
    +
    229};
    -
    281
    -
    282} // namespace robot::types
    -
    283
    -
    284namespace util {
    -
    285std::string to_string(robot::types::jointid_t joint);
    -
    286std::string to_string(const robot::types::CameraID& id);
    -
    287std::string to_string(robot::types::mountedperipheral_t peripheral);
    -
    288} // namespace util
    +
    230
    +
    234constexpr size_t N_LIMIT_SWITCH = 8;
    +
    235
    +
    236constexpr int LIMIT_SWITCH_LIM_MIN_IDX = 0;
    +
    237constexpr int LIMIT_SWITCH_LIM_MAX_IDX = 1;
    +
    238
    +
    +
    242class LimitSwitchData {
    +
    243public:
    +
    252 LimitSwitchData(unsigned long long data);
    +
    253
    +
    262 bool isOpen(size_t idx);
    +
    263
    +
    272 bool isClosed(size_t idx);
    +
    273
    +
    279 bool isAnyOpen();
    +
    280
    +
    286 bool isAnyClosed();
    +
    287
    +
    297 std::bitset<N_LIMIT_SWITCH> diff(const LimitSwitchData& other);
    +
    298
    +
    299private:
    +
    300 std::bitset<N_LIMIT_SWITCH> data;
    +
    301};
    +
    +
    302
    +
    303} // namespace robot::types
    +
    304
    +
    305namespace util {
    +
    306std::string to_string(robot::types::jointid_t joint);
    +
    307std::string to_string(const robot::types::CameraID& id);
    +
    308std::string to_string(robot::types::mountedperipheral_t peripheral);
    +
    309} // namespace util
    +
    std::string
    _GLIBCXX_END_NAMESPACE_CXX11 typedef basic_string< char > string
    @@ -282,16 +297,17 @@ -
    robot::types::DataPoint
    Represents data measured using a sensor at a given time.
    Definition data.h:111
    -
    robot::types::DataPoint::isFresh
    bool isFresh(std::chrono::milliseconds duration) const
    Check if this measurement was taken recently.
    Definition data.h:159
    -
    robot::types::DataPoint::DataPoint
    DataPoint(T data)
    Construct a new DataPoint object, measured now.
    Definition data.h:123
    -
    robot::types::DataPoint::getData
    T getData() const
    Get the value of this data point.
    Definition data.h:188
    -
    robot::types::DataPoint::DataPoint
    DataPoint(datatime_t time, T data)
    Construct a new DataPoint object, measured at the given time.
    Definition data.h:131
    -
    robot::types::DataPoint::getTime
    datatime_t getTime() const
    Get the time at which the measurement was taken.
    Definition data.h:178
    -
    robot::types::DataPoint::isValid
    bool isValid() const
    Check if this measurement is valid.
    Definition data.h:168
    -
    robot::types::DataPoint::DataPoint
    DataPoint()
    Construct an invalid DataPoint, holding no data.
    Definition data.h:116
    -
    robot::types::DataPoint::getDataOrElse
    T getDataOrElse(T defaultData)
    Get the value of this data point, defaulting to a given value if this data point is invalid.
    Definition data.h:199
    -
    robot::types::LimitSwitchData
    A class that represents limit switches from a specific motor.
    Definition data.h:221
    +
    robot::types::DataPoint
    Represents data measured using a sensor at a given time.
    Definition data.h:114
    +
    robot::types::DataPoint::isFresh
    bool isFresh(std::chrono::milliseconds duration) const
    Check if this measurement was taken recently.
    Definition data.h:162
    +
    robot::types::DataPoint::DataPoint
    DataPoint(T data)
    Construct a new DataPoint object, measured now.
    Definition data.h:126
    +
    robot::types::DataPoint::getData
    T getData() const
    Get the value of this data point.
    Definition data.h:191
    +
    robot::types::DataPoint::DataPoint
    DataPoint(datatime_t time, T data)
    Construct a new DataPoint object, measured at the given time.
    Definition data.h:134
    +
    robot::types::DataPoint::getTime
    datatime_t getTime() const
    Get the time at which the measurement was taken.
    Definition data.h:181
    +
    robot::types::DataPoint::isValid
    bool isValid() const
    Check if this measurement is valid.
    Definition data.h:171
    +
    robot::types::DataPoint::DataPoint
    DataPoint()
    Construct an invalid DataPoint, holding no data.
    Definition data.h:119
    +
    robot::types::DataPoint::transform
    DataPoint< std::invoke_result_t< F, T > > transform(const F &f)
    Transforms the data in this datapoint by the given function.
    Definition data.h:216
    +
    robot::types::DataPoint::getDataOrElse
    T getDataOrElse(T defaultData)
    Get the value of this data point, defaulting to a given value if this data point is invalid.
    Definition data.h:202
    +
    robot::types::LimitSwitchData
    A class that represents limit switches from a specific motor.
    Definition data.h:242
    robot::types::LimitSwitchData::diff
    std::bitset< N_LIMIT_SWITCH > diff(const LimitSwitchData &other)
    Check which indices differ between this data and other.
    Definition data.cpp:23
    robot::types::LimitSwitchData::isAnyClosed
    bool isAnyClosed()
    Check if any index is closed.
    Definition data.cpp:15
    robot::types::LimitSwitchData::isAnyOpen
    bool isAnyOpen()
    Check if any index is open.
    Definition data.cpp:19
    @@ -300,14 +316,14 @@
    none
    none
    robot::types
    Types for use in the world interface.
    Definition data.cpp:3
    -
    robot::types::indication_t
    indication_t
    An indication enum, used to command the LED to flash different signals.
    Definition data.h:47
    -
    robot::types::motorid_t
    motorid_t
    The motors on the robot.
    Definition data.h:55
    -
    robot::types::CameraID
    std::string CameraID
    The type of a camera id.
    Definition data.h:44
    -
    robot::types::mountedperipheral_t
    mountedperipheral_t
    the mounted peripheral on the robot.
    Definition data.h:70
    -
    robot::types::N_LIMIT_SWITCH
    constexpr size_t N_LIMIT_SWITCH
    The maximum number of limit switches associated with any motor.
    Definition data.h:213
    -
    robot::types::dataclock
    std::chrono::steady_clock dataclock
    The clock used for time measurements for data.
    Definition data.h:28
    +
    robot::types::indication_t
    indication_t
    An indication enum, used to command the LED to flash different signals.
    Definition data.h:49
    +
    robot::types::motorid_t
    motorid_t
    The motors on the robot.
    Definition data.h:57
    +
    robot::types::CameraID
    std::string CameraID
    The type of a camera id.
    Definition data.h:46
    +
    robot::types::mountedperipheral_t
    mountedperipheral_t
    the mounted peripheral on the robot.
    Definition data.h:72
    +
    robot::types::N_LIMIT_SWITCH
    constexpr size_t N_LIMIT_SWITCH
    The maximum number of limit switches associated with any motor.
    Definition data.h:234
    +
    robot::types::dataclock
    std::chrono::steady_clock dataclock
    The clock used for time measurements for data.
    Definition data.h:29
    util
    A collection of utility functions and classes with common use-cases.
    Definition core.cpp:3
    -
    util::to_string
    std::string to_string(const T &val)
    Convert the given value to a string.
    Definition core.h:47
    +
    util::to_string
    std::string to_string(const T &val)
    Convert the given value to a string.
    Definition core.h:48
    diff --git a/functions_func_t.html b/functions_func_t.html index 1835d4fcd..489f99cdf 100644 --- a/functions_func_t.html +++ b/functions_func_t.html @@ -80,6 +80,7 @@
    Here is a list of all documented functions with links to the class documentation for each member:

    - t -

    diff --git a/functions_t.html b/functions_t.html index e738e3965..638e5d36a 100644 --- a/functions_t.html +++ b/functions_t.html @@ -80,6 +80,7 @@
    Here is a list of all documented class members with links to the class documentation for each member:

    - t -

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    - r -

    • readCamera() : robot
    • readConfigFromFile() : cam
    • readGPS() : robot
      • +
    • readIMU() : robot
    • readIMUHeading() : robot
    • readLandmarks() : robot
    • readLidarScan() : robot
      • @@ -253,6 +254,7 @@

      - t -

      • telemetry_t : can
      • telemtype_t : can
      • to_string() : util
        • +
      • to_string< bool >() : util
      • toPose() : util
      • toTransform() : util
      • toTransformRotateFirst() : util
        • diff --git a/namespacemembers_func.html b/namespacemembers_func.html index 63afc2f2f..387d96f8e 100644 --- a/namespacemembers_func.html +++ b/namespacemembers_func.html @@ -181,6 +181,7 @@

        - r -

    + +

    Read the rover attitude from the IMU.

    +

    Euler angles are in radians, in RPY format (i.e. XYZ extrinsic)

    +
    See also
    https://en.wikipedia.org/wiki/Euler_angles#Tait%E2%80%93Bryan_angles
    +
    Returns
    types::DataPoint<navtypes::eulerangles_t>
    +
    diff --git a/namespaceutil.html b/namespaceutil.html index ec1a0735d..46ee5baff 100644 --- a/namespaceutil.html +++ b/namespaceutil.html @@ -118,6 +118,10 @@ bool almostEqual (double a, double b, double threshold=1e-6)  Check if two numbers are approximately equal.
      +template<> +std::string to_string< bool > (const bool &val) + Converts a boolean to a string.
    +  frozen::string freezeStr (const std::string &str)  Convert the given std::string to a frozen::string.
    @@ -130,6 +134,10 @@ std::string to_string (const T &val)  Convert the given value to a string.
      +template<> +std::string to_string< bool > (const bool &val) + Converts a boolean to a string.
    +  bool hasKey (const json &j, const std::string &key)  Check if the given json object has the given key.
    @@ -616,6 +624,64 @@

    Returns
    A string representation of that value, as a std::string. The exact representation of the value is up to the implementation.
    +

    +
    + +

    ◆ to_string< bool >() [1/2]

    + +
    +
    +
    +template<>
    + + + + + + + + +
    std::string util::to_string< bool > (const bool & val)
    +
    + +

    Converts a boolean to a string.

    +
    Parameters
    + + +
    valThe value to get the string representation of.
    +
    +
    +
    Returns
    "true" iff val, otherwise "false".
    + +
    +
    + +

    ◆ to_string< bool >() [2/2]

    + +
    +
    +
    +template<>
    + + + + + + + + +
    std::string util::to_string< bool > (const bool & val)
    +
    + +

    Converts a boolean to a string.

    +
    Parameters
    + + +
    valThe value to get the string representation of.
    +
    +
    +
    Returns
    "true" iff val, otherwise "false".
    +
    diff --git a/read__hokuyo__lidar_8h_source.html b/read__hokuyo__lidar_8h_source.html index 0d5c5b161..f7db60855 100644 --- a/read__hokuyo__lidar_8h_source.html +++ b/read__hokuyo__lidar_8h_source.html @@ -101,7 +101,7 @@
    20
    27robot::types::DataPoint<navtypes::points_t> readLidar();
    28} // namespace lidar
    -
    robot::types::DataPoint
    Represents data measured using a sensor at a given time.
    Definition data.h:111
    +
    robot::types::DataPoint
    Represents data measured using a sensor at a given time.
    Definition data.h:114
    diff --git a/read__rp__lidar_8h_source.html b/read__rp__lidar_8h_source.html index 27cf61c17..d68534338 100644 --- a/read__rp__lidar_8h_source.html +++ b/read__rp__lidar_8h_source.html @@ -115,7 +115,7 @@
    32
    33}
    -
    robot::types::DataPoint
    Represents data measured using a sensor at a given time.
    Definition data.h:111
    +
    robot::types::DataPoint
    Represents data measured using a sensor at a given time.
    Definition data.h:114
    cos
    __device__ __forceinline__ float1 cos(const uchar1 &a)
    sin
    __device__ __forceinline__ float4 sin(const uchar4 &a)
    lidar::Polar2D
    Polar struct that holds radius, and theta (radians)
    Definition read_rp_lidar.h:23
    diff --git a/real__world__constants_8h_source.html b/real__world__constants_8h_source.html index bb8e673f6..2179b2158 100644 --- a/real__world__constants_8h_source.html +++ b/real__world__constants_8h_source.html @@ -216,7 +216,7 @@
    at
    T & at(int idx, std::vector< T > &items)
    uint16_t
    ::uint16_t uint16_t
    int32_t
    ::int32_t int32_t
    -
    robot::types::motorid_t
    motorid_t
    The motors on the robot.
    Definition data.h:55
    +
    robot::types::motorid_t
    motorid_t
    The motors on the robot.
    Definition data.h:57
    robot
    Collection of functions for manipulating a motor.
    Definition ArduPilotInterface.cpp:27
    robot::TELEM_PERIOD
    constexpr std::chrono::milliseconds TELEM_PERIOD(50)
    The default telemetry period for motors.
    robot::pidMotors
    constexpr auto pidMotors
    The set of motors that are PID controlled.
    Definition real_world_constants.h:29
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    void setMotorPos(int32_t targetPos) override
    Set the target position of the motor.
    Definition sim_motor.cpp:21
    robot::sim_motor::setMotorPower
    void setMotorPower(double power) override
    Set the PWM command of the motor.
    Definition sim_motor.cpp:13
    robot::sim_motor::getMotorPos
    types::DataPoint< int32_t > getMotorPos() const override
    Get the last reported position of the specified motor.
    Definition sim_motor.cpp:30
    -
    robot::types::DataPoint
    Represents data measured using a sensor at a given time.
    Definition data.h:111
    +
    robot::types::DataPoint
    Represents data measured using a sensor at a given time.
    Definition data.h:114
    int32_t
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    -
    robot::types::motorid_t
    motorid_t
    The motors on the robot.
    Definition data.h:55
    +
    robot::types::motorid_t
    motorid_t
    The motors on the robot.
    Definition data.h:57
    robot
    Collection of functions for manipulating a motor.
    Definition ArduPilotInterface.cpp:27
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    159
    166types::DataPoint<double> readIMUHeading();
    167
    -
    173types::DataPoint<navtypes::pose_t> getTruePose();
    -
    174
    -
    182std::optional<navtypes::point_t> gpsToMeters(const navtypes::gpscoords_t& coord);
    -
    183
    -
    191types::DataPoint<navtypes::transform_t> readOdom();
    -
    192
    -
    200types::DataPoint<navtypes::pose_t> readVisualOdomVel();
    -
    201
    -
    210navtypes::URCLeg getLeg(int index);
    -
    211
    -
    217void setIndicator(types::indication_t signal);
    -
    218
    -
    225void setMotorPower(robot::types::motorid_t motor, double power);
    -
    226
    -
    235void setMotorPos(robot::types::motorid_t motor, int32_t targetPos);
    -
    236
    -
    243void setMotorVel(robot::types::motorid_t motor, int32_t targetVel);
    -
    244
    -
    253types::DataPoint<int32_t> getMotorPos(robot::types::motorid_t motor);
    -
    254
    -
    255using callbackid_t = unsigned long long;
    -
    256
    -
    257callbackid_t addLimitSwitchCallback(
    -
    258 robot::types::motorid_t motor,
    -
    259 const std::function<void(
    -
    260 robot::types::motorid_t motor,
    -
    261 robot::types::DataPoint<robot::types::LimitSwitchData> limitSwitchData)>& callback);
    -
    262
    -
    263void removeLimitSwitchCallback(callbackid_t id);
    -
    264
    -
    265// TODO: document
    -
    266void setJointPower(robot::types::jointid_t joint, double power);
    +
    177types::DataPoint<navtypes::eulerangles_t> readIMU();
    +
    178
    +
    184types::DataPoint<navtypes::pose_t> getTruePose();
    +
    185
    +
    193std::optional<navtypes::point_t> gpsToMeters(const navtypes::gpscoords_t& coord);
    +
    194
    +
    202types::DataPoint<navtypes::transform_t> readOdom();
    +
    203
    +
    211types::DataPoint<navtypes::pose_t> readVisualOdomVel();
    +
    212
    +
    221navtypes::URCLeg getLeg(int index);
    +
    222
    +
    228void setIndicator(types::indication_t signal);
    +
    229
    +
    236void setMotorPower(robot::types::motorid_t motor, double power);
    +
    237
    +
    246void setMotorPos(robot::types::motorid_t motor, int32_t targetPos);
    +
    247
    +
    254void setMotorVel(robot::types::motorid_t motor, int32_t targetVel);
    +
    255
    +
    264types::DataPoint<int32_t> getMotorPos(robot::types::motorid_t motor);
    +
    265
    +
    266using callbackid_t = unsigned long long;
    267
    -
    272void setJointPos(robot::types::jointid_t joint, int32_t targetPos);
    +
    268callbackid_t addLimitSwitchCallback(
    +
    269 robot::types::motorid_t motor,
    +
    270 const std::function<void(
    +
    271 robot::types::motorid_t motor,
    +
    272 robot::types::DataPoint<robot::types::LimitSwitchData> limitSwitchData)>& callback);
    273
    -
    279types::DataPoint<int32_t> getJointPos(robot::types::jointid_t joint);
    -
    280
    -
    292template <unsigned long int N>
    -
    293types::DataPoint<navtypes::Vectord<N>>
    -
    -
    294getMotorPositionsRad(const std::array<types::motorid_t, N>& motors) {
    -
    295 navtypes::Vectord<N> motorPositions;
    -
    296 std::optional<types::datatime_t> timestamp;
    -
    297 for (size_t i = 0; i < motors.size(); i++) {
    -
    298 types::DataPoint<int32_t> positionDataPoint = robot::getMotorPos(motors[i]);
    -
    299 if (positionDataPoint.isValid()) {
    -
    300 if (!timestamp.has_value() || timestamp > positionDataPoint.getTime()) {
    -
    301 timestamp = positionDataPoint.getTime();
    -
    302 }
    -
    303 double position = static_cast<double>(positionDataPoint.getData());
    -
    304 position *= M_PI / 180.0 / 1000.0;
    -
    305 motorPositions(i) = position;
    -
    306 } else {
    -
    307 return {};
    -
    308 }
    -
    309 }
    -
    310 return types::DataPoint<navtypes::Vectord<N>>(timestamp.value(), motorPositions);
    -
    311}
    +
    274void removeLimitSwitchCallback(callbackid_t id);
    +
    275
    +
    276// TODO: document
    +
    277void setJointPower(robot::types::jointid_t joint, double power);
    +
    278
    +
    283void setJointPos(robot::types::jointid_t joint, int32_t targetPos);
    +
    284
    +
    290types::DataPoint<int32_t> getJointPos(robot::types::jointid_t joint);
    +
    291
    +
    303template <unsigned long int N>
    +
    304types::DataPoint<navtypes::Vectord<N>>
    +
    +
    305getMotorPositionsRad(const std::array<types::motorid_t, N>& motors) {
    +
    306 navtypes::Vectord<N> motorPositions;
    +
    307 std::optional<types::datatime_t> timestamp;
    +
    308 for (size_t i = 0; i < motors.size(); i++) {
    +
    309 types::DataPoint<int32_t> positionDataPoint = robot::getMotorPos(motors[i]);
    +
    310 if (positionDataPoint.isValid()) {
    +
    311 if (!timestamp.has_value() || timestamp > positionDataPoint.getTime()) {
    +
    312 timestamp = positionDataPoint.getTime();
    +
    313 }
    +
    314 double position = static_cast<double>(positionDataPoint.getData());
    +
    315 position *= M_PI / 180.0 / 1000.0;
    +
    316 motorPositions(i) = position;
    +
    317 } else {
    +
    318 return {};
    +
    319 }
    +
    320 }
    +
    321 return types::DataPoint<navtypes::Vectord<N>>(timestamp.value(), motorPositions);
    +
    322}
    -
    312
    -
    313// TODO: document
    -
    314void zeroJoint(robot::types::jointid_t joint);
    -
    315} // namespace robot
    -
    316
    -
    317namespace gps {
    -
    325robot::types::DataPoint<navtypes::gpscoords_t> readGPSCoords();
    -
    326} // namespace gps
    +
    323
    +
    324// TODO: document
    +
    325void zeroJoint(robot::types::jointid_t joint);
    +
    326} // namespace robot
    +
    327
    +
    328namespace gps {
    +
    336robot::types::DataPoint<navtypes::gpscoords_t> readGPSCoords();
    +
    337} // namespace gps
    @@ -226,44 +228,45 @@
    kinematics::DiffDriveKinematics
    Represents the kinematics of a differential drive.
    Definition DiffDriveKinematics.h:14
    kinematics::DiffWristKinematics
    Represents the kinematics of a differential wrist.
    Definition DiffWristKinematics.h:84
    -
    robot::types::DataPoint
    Represents data measured using a sensor at a given time.
    Definition data.h:111
    -
    robot::types::DataPoint::getData
    T getData() const
    Get the value of this data point.
    Definition data.h:188
    -
    robot::types::DataPoint::getTime
    datatime_t getTime() const
    Get the time at which the measurement was taken.
    Definition data.h:178
    -
    robot::types::DataPoint::isValid
    bool isValid() const
    Check if this measurement is valid.
    Definition data.h:168
    +
    robot::types::DataPoint
    Represents data measured using a sensor at a given time.
    Definition data.h:114
    +
    robot::types::DataPoint::getData
    T getData() const
    Get the value of this data point.
    Definition data.h:191
    +
    robot::types::DataPoint::getTime
    datatime_t getTime() const
    Get the time at which the measurement was taken.
    Definition data.h:181
    +
    robot::types::DataPoint::isValid
    bool isValid() const
    Check if this measurement is valid.
    Definition data.h:171
    cam
    Namespace for camera access system.
    Definition Camera.cpp:13
    uint32_t
    ::uint32_t uint32_t
    int32_t
    ::int32_t int32_t
    -
    robot::types::indication_t
    indication_t
    An indication enum, used to command the LED to flash different signals.
    Definition data.h:47
    -
    robot::types::landmarks_t
    std::vector< DataPoint< navtypes::point_t > > landmarks_t
    A data structure that represents when each landmark was seen.
    Definition data.h:39
    -
    robot::types::motorid_t
    motorid_t
    The motors on the robot.
    Definition data.h:55
    -
    robot::types::CameraID
    std::string CameraID
    The type of a camera id.
    Definition data.h:44
    +
    robot::types::indication_t
    indication_t
    An indication enum, used to command the LED to flash different signals.
    Definition data.h:49
    +
    robot::types::landmarks_t
    std::vector< DataPoint< navtypes::point_t > > landmarks_t
    A data structure that represents when each landmark was seen.
    Definition data.h:41
    +
    robot::types::motorid_t
    motorid_t
    The motors on the robot.
    Definition data.h:57
    +
    robot::types::CameraID
    std::string CameraID
    The type of a camera id.
    Definition data.h:46
    robot
    Collection of functions for manipulating a motor.
    Definition ArduPilotInterface.cpp:27
    robot::getJointPos
    types::DataPoint< int32_t > getJointPos(robot::types::jointid_t joint)
    Definition kinematic_common_interface.cpp:129
    robot::readLidarScan
    DataPoint< points_t > readLidarScan()
    Get the last measurement from the lidar.
    Definition noop_world.cpp:38
    -
    robot::readGPS
    DataPoint< point_t > readGPS()
    Get the current position in the global map frame based on a GPS measurement.
    Definition gps_common_interface.cpp:13
    +
    robot::readGPS
    DataPoint< point_t > readGPS()
    Get the current position in the global map frame based on a GPS measurement.
    Definition gps_common_interface.cpp:17
    robot::setJointPos
    void setJointPos(robot::types::jointid_t joint, int32_t targetPos)
    Definition kinematic_common_interface.cpp:99
    robot::getCmdVel
    std::pair< double, double > getCmdVel()
    Get the velocity commanded to the robot.
    Definition kinematic_common_interface.cpp:80
    robot::readCamera
    DataPoint< CameraFrame > readCamera(CameraID cameraID)
    Read the latest frame from the given camera.
    Definition real_world_interface.cpp:177
    robot::hasNewCameraFrame
    bool hasNewCameraFrame(CameraID cameraID, uint32_t oldFrameNum)
    Check if a new camera frame from the specified camera is available.
    Definition real_world_interface.cpp:167
    +
    robot::readIMU
    DataPoint< eulerangles_t > readIMU()
    Read the rover attitude from the IMU.
    Definition ArduPilotInterface.cpp:28
    robot::getCameraIntrinsicParams
    std::optional< cam::CameraParams > getCameraIntrinsicParams(CameraID cameraID)
    Get the intrinsic params of the specified camera, if it exists.
    Definition real_world_interface.cpp:195
    robot::getTruePose
    DataPoint< pose_t > getTruePose()
    Get the ground truth pose, if available.
    Definition noop_world.cpp:50
    robot::getCameras
    std::unordered_set< CameraID > getCameras()
    Get the IDs of the currently supported cameras.
    Definition real_world_interface.cpp:163
    robot::getMotor
    std::shared_ptr< robot::base_motor > getMotor(robot::types::motorid_t motor)
    Get a pointer to the motor object associated with the motor id.
    Definition noop_world.cpp:32
    robot::world_interface_init
    void world_interface_init(bool initMotorsOnly)
    Initialize the world interface.
    Definition noop_world.cpp:30
    robot::readVisualOdomVel
    DataPoint< pose_t > readVisualOdomVel()
    Calculate the current pose velocity (in the robot's reference frame) using visual odometry.
    Definition noop_world.cpp:54
    -
    robot::getMotorPositionsRad
    types::DataPoint< navtypes::Vectord< N > > getMotorPositionsRad(const std::array< types::motorid_t, N > &motors)
    Get the positions in radians of multiple motors at the same time.
    Definition world_interface.h:294
    +
    robot::getMotorPositionsRad
    types::DataPoint< navtypes::Vectord< N > > getMotorPositionsRad(const std::array< types::motorid_t, N > &motors)
    Get the positions in radians of multiple motors at the same time.
    Definition world_interface.h:305
    robot::setMotorVel
    void setMotorVel(robot::types::motorid_t motor, int32_t targetVel)
    Sets the velocity of the given motor.
    Definition noop_world.cpp:70
    robot::WorldInterface
    WorldInterface
    An enum which defines the possible types of world interfaces.
    Definition world_interface.h:32
    robot::setCmdVel
    double setCmdVel(double dtheta, double dx)
    Request the robot to drive at the given velocities.
    Definition kinematic_common_interface.cpp:57
    robot::emergencyStop
    void emergencyStop()
    Emergency stop all motors.
    Definition noop_world.cpp:36
    robot::getLeg
    URCLeg getLeg(int)
    Get the URC leg of the given index.
    Definition noop_world.cpp:58
    -
    robot::readIMUHeading
    DataPoint< double > readIMUHeading()
    Read the current heading in the global map frame based on an IMU measurement.
    Definition ArduPilotInterface.cpp:28
    +
    robot::readIMUHeading
    DataPoint< double > readIMUHeading()
    Read the current heading in the global map frame based on an IMU measurement.
    Definition gps_common_interface.cpp:13
    robot::getCameraExtrinsicParams
    std::optional< cv::Mat > getCameraExtrinsicParams(CameraID cameraID)
    Get the extrinsic params of the specified camera, if it exists.
    Definition real_world_interface.cpp:207
    -
    robot::gpsHasFix
    bool gpsHasFix()
    Check if the GPS sensor has acquired a fix.
    Definition gps_common_interface.cpp:38
    +
    robot::gpsHasFix
    bool gpsHasFix()
    Check if the GPS sensor has acquired a fix.
    Definition gps_common_interface.cpp:42
    robot::readLandmarks
    landmarks_t readLandmarks()
    Read measurement from the CV system.
    Definition noop_world.cpp:42
    robot::readOdom
    DataPoint< transform_t > readOdom()
    Calculates the current transform in the frame of the starting pose based purely on forward kinematics...
    Definition kinematic_common_interface.cpp:42
    robot::WORLD_INTERFACE
    const WorldInterface WORLD_INTERFACE
    The current world interface being used.
    Definition real_world_interface.cpp:30
    -
    robot::gpsToMeters
    std::optional< point_t > gpsToMeters(const gpscoords_t &coord)
    Convert GPS coordinates into a coordinate on the map frame.
    Definition gps_common_interface.cpp:30
    +
    robot::gpsToMeters
    std::optional< point_t > gpsToMeters(const gpscoords_t &coord)
    Convert GPS coordinates into a coordinate on the map frame.
    Definition gps_common_interface.cpp:34
    robot::getMotorPos
    types::DataPoint< int32_t > getMotorPos(robot::types::motorid_t motor)
    Get the last reported position of the specified motor.
    Definition noop_world.cpp:66
    robot::setIndicator
    void setIndicator(indication_t signal)
    Set the robot indicator to indicate the given signal.
    Definition noop_world.cpp:72
    navtypes::URCLeg
    Definition navtypes.h:49