Aria
2.8.0
|
These classes provide additional features that may be used in some programs. More...
Classes | |
class | ArAction |
Base class for actions. More... | |
class | ArActionGroup |
Group a set of ArAction objects together. More... | |
class | ArACTS_1_2 |
Communicate with ACTS. More... | |
class | ArAnalogGyro |
Use onboard gyro to improve the heading in an ArRobot object's pose value. More... | |
class | ArCameraCollection |
Maintains information about all of the robot's cameras. More... | |
class | ArCommands |
A class containing names for most robot microcontroller system commands. More... | |
class | ArConfig |
Stores configuration information which may be read to and from files or other sources. More... | |
class | ArDaemonizer |
Switch to running the program as a background daemon (i.e. More... | |
class | ArDataLogger |
This class will log data, but you have to use it through an ArConfig right now. More... | |
class | ArDPPTUCommands |
Interface to Directed Perception pan/tilt unit, imprementing the ArPTZ interface. More... | |
class | ArFileParser |
Class for parsing files more easily. More... | |
class | ArForbiddenRangeDevice |
Class that takes forbidden lines and turns them into range readings. More... | |
class | ArGPS |
GPS Device Interface. More... | |
class | ArGPSConnector |
Factory for creating GPS interface object (for any kind of GPS supported by ARIA) based on robot parameter file and command-line arguments. More... | |
class | ArGripper |
Provides an interface to the Pioneer gripper device. More... | |
class | ArIRs |
A class that treats a robot's infrared sensors as a range device. More... | |
class | ArJoyHandler |
Interfaces to a computer joystick. More... | |
class | ArKeyHandler |
Perform actions when keyboard keys are pressed. More... | |
class | ArLineFinder |
This class finds lines out of any range device with raw readings (lasers for instance) More... | |
class | ArMap |
A map of a two-dimensional space the robot can navigate within, and which can be updated via the Aria config. More... | |
class | ArMode |
A class for different modes, mostly as related to keyboard input. More... | |
class | ArMTXIO |
Interface to digital and analog I/O and switched power outputs on MTX core (used in Pioneer LX and other MTX-based robots). More... | |
class | ArNetServer |
Class for running a simple net server to send/recv commands via text. More... | |
class | ArP2Arm |
ArP2Arm is the interface to the AROS/P2OS-based Pioneer 2 Arm servers, by means of which the robot microcontroller firmware can control the original 5-DOF Pioneer 2 Arm manipulator. More... | |
class | ArPTZ |
Base class which handles the PTZ cameras. More... | |
class | ArPTZConnector |
Factory for creating and configuring interfaces for pan/tilt units or camera pan/tilt/zoom control based on robot parameter file and command-line arguments. More... | |
class | ArRatioInputJoydrive |
Use computer joystick to control an ArActionRatioInput and drive the robot. More... | |
class | ArRatioInputKeydrive |
This will use the keyboard arrow keys and the ArActionRatioInput to drive the robot. More... | |
class | ArRatioInputRobotJoydrive |
Use robot's joystick to control an ArActionRatioInput action and drive the robot. More... | |
class | ArRobotJoyHandler |
Interfaces to a joystick on the robot's microcontroller. More... | |
class | ArStringInfoGroup |
This class takes callbacks from different classes that want this string information and then lets you just add the information here instead of to each individual class. More... | |
class | ArTCM2 |
Interface to the PNI TCM 2, TCM 2.5, and TCM 2.6 3-axis compass (magnetometer) that can sense absolute heading, as well as pitch, roll, and includes a temperature sensor. More... | |
class | ArVersalogicIO |
Interface to integrated digital and analog I/O interfaces on Versalogic VSBC8 and EBX-12 Cobra computers (digital IO on 2nd * gen. More... | |
struct | ArCameraCollection::CameraInfo |
Information regarding a single camera. More... | |
struct | ArCameraCollection::CommandInfo |
Information regarding a particular camera command. More... | |
struct | ArCameraCollection::ParamInfo |
Information regarding a particular camera parameter. More... | |
class | ArConfig::ProcessFileCBType |
This class's job is to make the two functor types largely look like the same one from the code's perspective, this is so we can store them both in the same map for order of operations purposes. More... | |
These classes provide additional features that may be used in some programs.
anonymous enum |
enum ArCommands::Commands |
Enumerator | |
---|---|
PULSE |
none, keep alive command, so watchdog doesn't trigger |
OPEN |
none, sent after connection to initiate connection |
CLOSE |
none, sent to close the connection to the robot |
POLLING |
string, string that sets sonar polling sequence |
ENABLE |
int, enable (1) or disable (0) motors |
SETA |
int, sets translational accel (+) or decel (-) (mm/sec/sec) |
SETV |
int, sets maximum velocity (mm/sec) |
SETO |
int, resets robots origin back to 0, 0, 0 |
MOVE |
int, translational move (mm) |
ROTATE |
int, set rotational velocity, duplicate of RVEL (deg/sec) |
SETRV |
int, sets the maximum rotational velocity (deg/sec) |
VEL |
int, set the translational velocity (mm/sec) |
HEAD |
int, turn to absolute heading 0-359 (degrees) |
DHEAD |
int, turn relative to current heading (degrees) |
SAY |
string, makes the robot beep. up to 20 pairs of duration (20 ms incrs) and tones (halfcycle) |
CONFIG |
int, request configuration packet |
ENCODER |
int, > 0 to request continous stream of packets, 0 to stop |
SETRVDIR |
int, Sets the rot vel max in each direction |
RVEL |
int, set rotational velocity (deg/sec) |
DCHEAD |
int, colbert relative heading setpoint (degrees) |
SETRA |
int, sets rotational accel(+) or decel(-) (deg/sec) |
SONAR |
int, enable (1) or disable (0) sonar |
STOP |
int, stops the robot |
DIGOUT |
int, sets the digout lines |
VEL2 |
int, independent wheel velocities, first 8 bits = right, second 8 bits = left, multiplied by Vel2 divisor. See manual. |
GRIPPER |
int, gripper server command, see gripper manual for detail |
ADSEL |
int, select the port given as argument |
GRIPPERVAL |
p2 gripper server value, see gripper manual for details |
GRIPPERPACREQUEST |
p2 gripper packet request |
IOREQUEST |
request iopackets from p2os |
PTUPOS |
most-sig byte is port number, least-sig byte is pulse width |
TTY2 |
string, send string argument to serial dev connected to aux1 |
GETAUX |
int, requests 1-200 bytes from aux1 serial channel, 0 flush |
BUMPSTALL |
int, stop and register a stall if front (1), rear (2), or both (3) bump rings are triggered, Off (default) is 0 |
TCM2 |
TCM2 module commands, see tcm2 manual for details. |
JOYDRIVE |
Command to tell p2os to drive with the joystick plugged into the robot. |
MOVINGBLINK |
int, 1 to blink lamp quickly before moving, 0 not to (for patrolbot) |
HOSTBAUD |
int, set baud rate for host port - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200 |
AUX1BAUD |
int, set baud rate for Aux1 - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200 |
AUX2BAUD |
int, set baud rate for Aux2 - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200 |
ESTOP |
none, emergency stop, overrides decel |
GYRO |
int, set to 1 to enable gyro packets, 0 to disable |
BATTERYINFO |
int, requests battery info packets, 0 to stop, 1 for 1, 2 for continuous |
LOADPARAM |
|
OLDSIM_LOADPARAM |
|
ENDSIM |
|
OLDSIM_EXIT |
|
LOADWORLD |
|
OLDSIM_LOADWORLD |
|
STEP |
|
OLDSIM_STEP |
|
CALCOMP |
int, commands for calibrating compass, see compass manual |
SETSIMORIGINTH |
|
OLDSIM_SETORIGINTH |
|
RESETSIMTOORIGIN |
|
OLDSIM_RESETTOORIGIN |
|
SOUND |
int, AmigoBot (old H8 model) specific, plays sound with given number |
PLAYLIST |
int, AmigoBot (old H8 model) specific, requests name of sound, 0 for all, otherwise for specific sound |
SOUNDTOG |
int, AmigoBot (old H8 model) specific, enable(1) or diable(0) sound |
POWER_PC |
int, Powers on or off the PC (if the firwmare is set up to do this in its power settings) |
POWER_LRF |
int, Powers on or off the laser (if the firwmare is set up to do this in its power settings) |
POWER_5V |
int, Powers on or off the 5v accessories (if the firwmare is set up to do this in its power settings) |
POWER_12V |
int, Powers on or off the 12v accessories (if the firwmare is set up to do this in its power settings) |
POWER_24V |
int, Powers on or off the 24v accessories (if the firwmare is set up to do this in its power settings) |
POWER_AUX_PC |
int, Powers on or off the auxilliary PC (if the firwmare is set up to do this in its power settings) |
POWER_TOUCHSCREEN |
int, Powers on or off the touchscreen (if the firwmare is set up to do this in its power settings) |
POWER_PTZ |
int, Powers on or off the PTZ (if the firwmare is set up to do this in its power settings) |
POWER_AUDIO |
int, Powers on or off the audio (if the firwmare is set up to do this in its power settings) |
POWER_LRF2 |
int, Powers on or off the second laser (if the firwmare is set up to do this in its power settings) |
LATVEL |
int, sets the lateral velocity (mm) |
LATACCEL |
int, sets the lateral acceleration (+, mm/sec2) or lateral deceleration (-, mm/sec2) |
SRECORD |
set max. lat. vel. (not available yet) |
MARCDEBUG |
< int, (for downloading MTX firmware) byte with 0 for wait, 1 for OK, -1 for ERROR (waiting might take 3-5 seconds for debug messages from MARC, possibly responses, possibly pushed... they are ascii strings that should be logged |
WHEEL_LIGHT |
For the wheel lights. |
ABSOLUTE_MAXES |
To set the absolute maxes. |
SAFETY_STATE_INFO |
int, request safety state info packets (0 == stop, 1 == send once, 2 == send continuous), |
SAFETY_SET_STATE |
2 bytes, first byte which system, second byte for value |
SAFETY_DISABLE_POWER_OFF_TIMER |
int, 0 set off, 1 set on |
SIM_SET_POSE |
int4,int4,int4 Move robot to global pose in simulator (does not change odometry). Each value is a 4-byte integer. |
SIM_RESET |
none, Reset robot's state to original in simulator and reset odometry to 0,0,0. |
SIM_LRF_ENABLE |
int, 1 to begin sending packets of data from a simulated laser rangefinder (on the same socket connection), 2 to send extended-information laser packets (with reading flags), 0 to disable LRF |
SIM_LRF_SET_FOV_START |
int Set angle (degrees from center) at which the simulater laser takes its first reading (normally -90). |
SIM_LRF_SET_FOV_END |
int Set angle (degrees from center) at which the simulated laser takes its last reading (normally 90). |
SIM_LRF_SET_RES |
int Set the number of degrees between laser readings (in combination with FOV, determines the number of readings per sweep) (normally 1) |
SIM_CTRL |
int,..., Send a simulator meta-command (an operation on the simulator itself). The initial 2-byte integer argument selects the operation. See simulator documentation. |
SIM_STAT |
none, Request that the simulator reply with a SIMSTAT (0x62) packet. You must have a packet handler registered with ArRobot to receive its output. See simulator documentation. |
SIM_MESSAGE |
string, Display a log message in the simulator. Argument is a length-prefixed ASCII byte string. |
SIM_EXIT |
int, Exit the simulator. Argument is the exit code (use 0 for a "normal" exit). |
|
protected |
enum ArKeyHandler::KEY |
These are symbols for the non-ascii keys.
enum ArP2Arm::PacketType |
Type of arm packet identifiers. Used in ArP2Arm::setPacketCB().
Enumerator | |
---|---|
StatusPacket |
The status packet type. |
InfoPacket |
The info packet type. |
enum ArP2Arm::State |
General error conditions possible from most of the arm related functions.
Enumerator | |
---|---|
SUCCESS |
Succeded. |
ALREADY_INITED |
The class is already initialized. |
NOT_INITED |
The class is not initialized. |
ROBOT_NOT_SETUP |
The ArRobot class is not setup properly. |
NO_ARM_FOUND |
The arm can not be found. |
COMM_FAILED |
Communications has failed. |
COULD_NOT_OPEN_PORT |
Could not open the communications port. |
COULD_NOT_SET_UP_PORT |
Could not setup the communications port. |
ALREADY_CONNECTED |
Already connected to the arm. |
NOT_CONNECTED |
Not connected with the arm, connect first. |
INVALID_JOINT |
Invalid joint specified. |
INVALID_POSITION |
Invalid position specified. |
enum ArP2Arm::StatusType |
Type of status packets to request for. Used in ArP2Arm::requestStatus()
Enumerator | |
---|---|
StatusOff |
Stop sending status packets. |
StatusSingle |
Send a single status packets. |
StatusContinuous |
Send continous packets. Once every 100ms. |