9 #ifndef CActivMediaRobotBase_H 10 #define CActivMediaRobotBase_H 87 void setSerialPortConfig(
88 const std::string &portName,
120 void getOdometryFull(
124 int64_t &out_left_encoder_ticks,
125 int64_t &out_right_encoder_ticks
136 void getOdometryIncrement(
140 int64_t &out_incr_left_encoder_ticks,
141 int64_t &out_incr_right_encoder_ticks
149 void getBatteryCharge(
double &out_batery_volts );
151 void getRealBatteryCharge(
double &out_batery_volts );
157 void setVelocities(
const double lin_vel,
const double ang_vel);
160 void disableSonars();
165 void getRobotInformation(TRobotDescription &info);
174 void DisableMotors();
180 bool areMotorsEnabled()
const;
204 void disconnectAndDisableMotors();
205 void connectAndEnableMotors();
208 void loadConfig_sensorSpecific(
210 const std::string &iniSection );
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters.
This class allows loading and storing values and vectors of different types from a configuration text...
std::vector< bool > vector_bool
A type for passing a vector of bools.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A class used to store a 2D pose.
Access to joysticks and gamepads (read buttons and position), and request number of joysticks in the ...