SIP Class Reference

#include <sip.hpp>

List of all members.

Public Member Functions
void	FillStandard (ros_p2os_data_t *data)
void	ParseArm (unsigned char *buffer)
void	ParseArmInfo (unsigned char *buffer)
void	ParseGyro (unsigned char *buffer)
void	ParseSERAUX (unsigned char *buffer)
void	ParseStandard (unsigned char *buffer)
void	Print ()
void	PrintArm ()
void	PrintArmInfo ()
void	PrintSonars ()
	SIP (int idx)
	~SIP ()
Public Attributes
unsigned char	analog
int16_t	angle
int	angle_offset
bool	armConnected
bool	armJointMoving [6]
unsigned char	armJointPos [6]
double	armJointPosRads [6]
ArmJoint *	armJoints
unsigned char	armJointTargetPos [6]
unsigned char	armNumJoints
bool	armPowerOn
char *	armVersionString
std::string	base_link_frame_id
unsigned char	battery
uint16_t	blobarea
unsigned int	blobcolor
uint16_t	blobconf
uint16_t	blobmx
uint16_t	blobmy
uint16_t	blobx1
uint16_t	blobx2
uint16_t	bloby1
uint16_t	bloby2
uint16_t	compass
int16_t	control
unsigned char	digin
unsigned char	digout
uint16_t	frontbumpers
int32_t	gyro_rate
double	lastLiftPos
int16_t	lvel
bool	lwstall
unsigned char	motors_enabled
std::string	odom_frame_id
uint16_t	ptu
uint16_t	rawxpos
uint16_t	rawypos
uint16_t	rearbumpers
int16_t	rvel
bool	rwstall
unsigned char	sonar_flag
unsigned char	sonarreadings
uint16_t *	sonars
unsigned char	status
uint16_t	timer
int	x_offset
int	xpos
int	y_offset
int	ypos
Private Member Functions
int	PositionChange (uint16_t, uint16_t)
Private Attributes
int	param_idx

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Detailed Description

Definition at line 55 of file sip.hpp.

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Constructor & Destructor Documentation

SIP::SIP

(

int

idx

)

[inline, explicit]

Definition at line 117 of file sip.hpp.

SIP::~SIP

(

)

[inline]

Definition at line 134 of file sip.hpp.

---

Member Function Documentation

void SIP::FillStandard

(

ros_p2os_data_t *

data

)

Definition at line 36 of file sip.cpp.

void SIP::ParseArm

(

unsigned char *

buffer

)

Definition at line 590 of file sip.cpp.

void SIP::ParseArmInfo

(

unsigned char *

buffer

)

Definition at line 631 of file sip.cpp.

void SIP::ParseGyro

(

unsigned char *

buffer

)

Definition at line 541 of file sip.cpp.

void SIP::ParseSERAUX

(

unsigned char *

buffer

)

Parse a SERAUX SIP packet. For a CMUcam, this will have blob tracking messages in the format (all one-byte values, no spaces):

255 M mx my x1 y1 x2 y2 pixels confidence (10-bytes)

Or color info messages of the format:

255 S Rval Gval Bval Rvar Gvar Bvar (8-bytes)

Definition at line 476 of file sip.cpp.

void SIP::ParseStandard

(

unsigned char *

buffer

)

Definition at line 325 of file sip.cpp.

int SIP::PositionChange	(	uint16_t	from,
		uint16_t	to
	)		[private]

Definition at line 227 of file sip.cpp.

void SIP::Print

(

)

Definition at line 242 of file sip.cpp.

void SIP::PrintArm

(

)

Definition at line 303 of file sip.cpp.

void SIP::PrintArmInfo

(

)

Definition at line 314 of file sip.cpp.

void SIP::PrintSonars

(

)

Definition at line 291 of file sip.cpp.

---

Member Data Documentation

unsigned char SIP::analog

Definition at line 65 of file sip.hpp.

int16_t SIP::angle

Definition at line 68 of file sip.hpp.

int SIP::angle_offset

Definition at line 71 of file sip.hpp.

bool SIP::armConnected

Definition at line 86 of file sip.hpp.

bool SIP::armJointMoving[6]

Definition at line 87 of file sip.hpp.

unsigned char SIP::armJointPos[6]

Definition at line 88 of file sip.hpp.

double SIP::armJointPosRads[6]

Definition at line 89 of file sip.hpp.

ArmJoint* SIP::armJoints

Definition at line 93 of file sip.hpp.

unsigned char SIP::armJointTargetPos[6]

Definition at line 90 of file sip.hpp.

unsigned char SIP::armNumJoints

Definition at line 92 of file sip.hpp.

bool SIP::armPowerOn

Definition at line 86 of file sip.hpp.

char* SIP::armVersionString

Definition at line 91 of file sip.hpp.

std::string SIP::base_link_frame_id

Definition at line 73 of file sip.hpp.

unsigned char SIP::battery

Definition at line 65 of file sip.hpp.

uint16_t SIP::blobarea

Definition at line 79 of file sip.hpp.

unsigned int SIP::blobcolor

Definition at line 80 of file sip.hpp.

uint16_t SIP::blobconf

Definition at line 79 of file sip.hpp.

uint16_t SIP::blobmx

Definition at line 77 of file sip.hpp.

uint16_t SIP::blobmy

Definition at line 77 of file sip.hpp.

uint16_t SIP::blobx1

Definition at line 78 of file sip.hpp.

uint16_t SIP::blobx2

Definition at line 78 of file sip.hpp.

uint16_t SIP::bloby1

Definition at line 78 of file sip.hpp.

uint16_t SIP::bloby2

Definition at line 78 of file sip.hpp.

uint16_t SIP::compass

Definition at line 66 of file sip.hpp.

int16_t SIP::control

Definition at line 68 of file sip.hpp.

unsigned char SIP::digin

Definition at line 65 of file sip.hpp.

unsigned char SIP::digout

Definition at line 65 of file sip.hpp.

uint16_t SIP::frontbumpers

Definition at line 67 of file sip.hpp.

int32_t SIP::gyro_rate

Definition at line 83 of file sip.hpp.

double SIP::lastLiftPos

Definition at line 97 of file sip.hpp.

int16_t SIP::lvel

Definition at line 68 of file sip.hpp.

bool SIP::lwstall

Definition at line 63 of file sip.hpp.

unsigned char SIP::motors_enabled

Definition at line 64 of file sip.hpp.

std::string SIP::odom_frame_id

Definition at line 72 of file sip.hpp.

int SIP::param_idx [private]

Definition at line 59 of file sip.hpp.

uint16_t SIP::ptu

Definition at line 66 of file sip.hpp.

uint16_t SIP::rawxpos

Definition at line 66 of file sip.hpp.

uint16_t SIP::rawypos

Definition at line 67 of file sip.hpp.

uint16_t SIP::rearbumpers

Definition at line 67 of file sip.hpp.

int16_t SIP::rvel

Definition at line 68 of file sip.hpp.

bool SIP::rwstall

Definition at line 63 of file sip.hpp.

unsigned char SIP::sonar_flag

Definition at line 64 of file sip.hpp.

unsigned char SIP::sonarreadings

Definition at line 65 of file sip.hpp.

uint16_t* SIP::sonars

Definition at line 69 of file sip.hpp.

unsigned char SIP::status

Definition at line 65 of file sip.hpp.

uint16_t SIP::timer

Definition at line 66 of file sip.hpp.

int SIP::x_offset

Definition at line 71 of file sip.hpp.

int SIP::xpos

Definition at line 70 of file sip.hpp.

int SIP::y_offset

Definition at line 71 of file sip.hpp.

int SIP::ypos

Definition at line 70 of file sip.hpp.

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The documentation for this class was generated from the following files:

• sip.hpp
• sip.cpp