WorldState.cc File Reference
Detailed Description
Implements WorldState, maintains information about the robot's environment, namely sensors and power status.
- Author:
- ejt (Creator)
- Author
- ejt
- Name
- Revision
- 1.45
- State
- Exp
- Date
- 2007/04/09 22:23:41
Definition in file WorldState.cc.
#include "WorldState.h"
#include "Shared/get_time.h"
#include "Events/EventRouter.h"
#include "ERS210Info.h"
#include "ERS220Info.h"
#include "ERS7Info.h"
#include "Shared/Config.h"
#include <OPENR/core_macro.h>
#include <OPENR/ObjcommTypes.h>
#include <OPENR/OPENR.h>
#include <OPENR/OPENRAPI.h>
#include <OPENR/OPENRMessages.h>
#include <OPENR/OPower.h>
Include dependency graph for WorldState.cc:
Go to the source code of this file.
Defines | |
| #define | GETD(cpc) (((float)sensor.GetData(cpc)->frame[lastFrame].value) / 1.0E6f) |
| returns value from OPEN-R, converted from micro in int to base in float | |
| #define | GETB(cpc) ((bool)sensor.GetData(cpc)->frame[lastFrame].value) |
| returns value from OPEN-R, as bool | |
| #define | GETSENSOR(cpc) ((float)sensor.GetData(cpc)->frame[lastFrame].value) |
| return value from OPEN-R, as int | |
| #define | GETSIG(cpc) ((word)sensor.GetData(cpc)->frame[lastFrame].signal) |
| returns signal from OPEN-R as word | |
| #define | GETDUTY(cpc) (((OJointValue*)(void*)&sensor.GetData(cpc)->frame[lastFrame])->pwmDuty/512.0f) |
| returns duty cycle from OPEN-R as float; -1 (full reverse) to 0 (idle) to 1 (full forward) | |
Variables | |
| WorldState * | state = NULL |
| the global state object, points into a shared memory region, created by MainObject | |
