Enki::AsebaMarxbot Class Reference

The aseba-enabled version of the marXbot robot. More...

#include <AsebaMarxbot.h>

Inheritance diagram for Enki::AsebaMarxbot:

List of all members.

Classes
struct	BaseVariables
struct	DistanceSensorVariables
struct	Event
struct	Module
struct	MotorVariables
struct	ProximitySensorVariables
Public Member Functions
	AsebaMarxbot ()
	Constructor, connect to a host and register VMs.
virtual void	connectionClosed (Dashel::Stream *stream, bool abnormal)
virtual void	connectionCreated (Dashel::Stream *stream)
virtual void	controlStep (double dt)
	In addition to DifferentialWheeled::step(), update aseba variables and initiate periodic events.
virtual void	incomingData (Dashel::Stream *stream)
virtual	~AsebaMarxbot ()
	Destructor, unregister VMs.
Public Attributes
std::vector< Module * >	modules
Dashel::Stream *	stream
Static Public Attributes
static int	marxbotNumber = 0
Private Attributes
Module	distanceSensors
DistanceSensorVariables	distanceSensorVariables
Module	leftMotor
MotorVariables	leftMotorVariables
Module	proximitySensors
ProximitySensorVariables	proximitySensorVariables
Module	rightMotor
MotorVariables	rightMotorVariables

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Detailed Description

The aseba-enabled version of the marXbot robot.

This robot provides a full simulation of event-based architecture as present on the real marXbot, using aseba. This robot provides a tcp server connection on port ASEBA_DEFAULT_PORT (currently 33333), or higher if other AsebaMarxbot already use it. This allows the connection of Aseba Studio to this robot. The feature is provided by inheriting from a Network server

Definition at line 50 of file AsebaMarxbot.h.

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Constructor & Destructor Documentation

Enki::AsebaMarxbot::AsebaMarxbot

(

)

Constructor, connect to a host and register VMs.

Definition at line 215 of file AsebaMarxbot.cpp.

Enki::AsebaMarxbot::~AsebaMarxbot

(

)

[virtual]

Destructor, unregister VMs.

Definition at line 269 of file AsebaMarxbot.cpp.

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Member Function Documentation

void Enki::AsebaMarxbot::connectionClosed	(	Dashel::Stream *	stream,
		bool	abnormal
	)		[virtual]

Reimplemented from Dashel::Hub.

Definition at line 372 of file AsebaMarxbot.cpp.

void Enki::AsebaMarxbot::connectionCreated

(

Dashel::Stream *

stream

)

[virtual]

Reimplemented from Dashel::Hub.

Definition at line 344 of file AsebaMarxbot.cpp.

void Enki::AsebaMarxbot::controlStep

(

double

dt

)

[virtual]

In addition to DifferentialWheeled::step(), update aseba variables and initiate periodic events.

Definition at line 278 of file AsebaMarxbot.cpp.

void Enki::AsebaMarxbot::incomingData

(

Dashel::Stream *

stream

)

[virtual]

Reimplemented from Dashel::Hub.

Definition at line 359 of file AsebaMarxbot.cpp.

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Member Data Documentation

Module Enki::AsebaMarxbot::distanceSensors [private]

Definition at line 135 of file AsebaMarxbot.h.

DistanceSensorVariables Enki::AsebaMarxbot::distanceSensorVariables [private]

Definition at line 130 of file AsebaMarxbot.h.

Module Enki::AsebaMarxbot::leftMotor [private]

Definition at line 132 of file AsebaMarxbot.h.

MotorVariables Enki::AsebaMarxbot::leftMotorVariables [private]

Definition at line 127 of file AsebaMarxbot.h.

int Enki::AsebaMarxbot::marxbotNumber = 0 [static]

Definition at line 140 of file AsebaMarxbot.h.

std::vector<Module *> Enki::AsebaMarxbot::modules

Definition at line 139 of file AsebaMarxbot.h.

Module Enki::AsebaMarxbot::proximitySensors [private]

Definition at line 134 of file AsebaMarxbot.h.

ProximitySensorVariables Enki::AsebaMarxbot::proximitySensorVariables [private]

Definition at line 129 of file AsebaMarxbot.h.

Module Enki::AsebaMarxbot::rightMotor [private]

Definition at line 133 of file AsebaMarxbot.h.

MotorVariables Enki::AsebaMarxbot::rightMotorVariables [private]

Definition at line 128 of file AsebaMarxbot.h.

Dashel::Stream* Enki::AsebaMarxbot::stream

Definition at line 156 of file AsebaMarxbot.h.

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

• AsebaMarxbot.h
• AsebaMarxbot.cpp