robot::types Namespace Reference

Types for use in the world interface. More...

Classes
class	bad_datapoint_access
class	CameraHandle
class	DataPoint
	Represents data measured using a sensor at a given time. More...
class	LimitSwitchData
	A class that represents limit switches from a specific motor. More...

Typedefs
using	dataclock = std::chrono::steady_clock
	The clock used for time measurements for data.
using	datatime_t = std::chrono::time_point<dataclock>
	A point in time as measured by dataclock.
using	landmarks_t = std::vector<DataPoint<navtypes::point_t>>
	A data structure that represents when each landmark was seen.
using	CameraFrame = std::pair<cv::Mat, uint32_t>
	A pair of a camera frame and its corresponding frame number.
using	CameraID = uint32_t
	The type of a camera id.

Enumerations
enum class	indication_t { off , autonomous , teleop , arrivedAtDest }
	An indication enum, used to command the LED to flash different signals.
enum class	motorid_t {   leftTread , rightTread , armBase , shoulder ,   elbow , forearm , wristDiffRight , wristDiffLeft ,   hand , drillActuator , drillMotor , fourbar1 ,   fourbar2 , scienceServoBoard , scienceStepperBoard }
	The motors on the robot.
enum class	mountedperipheral_t { none , arm , armServo , scienceStation }
	the mounted peripheral on the robot.
enum class	jointid_t {   armBase , shoulder , elbow , forearm ,   wristPitch , wristRoll , hand , ikForward ,   ikUp , fourBarLinkage , drillActuator , drillMotor }
enum class	servoid_t {   microscope , syringe , cuvette , filter ,   soilBox }
enum class	stepperid_t {   plunger , judges , mast , lock ,   lazySusan }

Variables
constexpr auto	all_jointid_t
constexpr auto	name_to_jointid
constexpr auto	all_servoid_t
constexpr auto	name_to_servoid
constexpr auto	servoid_to_servo_num
constexpr auto	all_stepperid_t
constexpr auto	name_to_stepperid
constexpr auto	stepperid_to_stepper_num
constexpr size_t	N_LIMIT_SWITCH = 8
	The maximum number of limit switches associated with any motor.
constexpr int	LIMIT_SWITCH_LIM_MIN_IDX = 0
constexpr int	LIMIT_SWITCH_LIM_MAX_IDX = 1

Detailed Description

Types for use in the world interface.

Typedef Documentation

landmarks_t

using robot::types::landmarks_t = std::vector<DataPoint<navtypes::point_t>>

A data structure that represents when each landmark was seen.

See also

AR::readLandmarks()

Variable Documentation

all_jointid_t

auto robot::types::all_jointid_t

constexpr

Initial value:

= frozen::make_unordered_set<jointid_t>(
    {jointid_t::armBase, jointid_t::shoulder, jointid_t::elbow, jointid_t::forearm,
     jointid_t::wristRoll, jointid_t::wristPitch, jointid_t::hand, jointid_t::ikForward,
   jointid_t::ikUp, jointid_t::fourBarLinkage, jointid_t::drillActuator, jointid_t::drillMotor})

all_servoid_t

auto robot::types::all_servoid_t

constexpr

Initial value:

= frozen::make_unordered_set<servoid_t>(
  {servoid_t::microscope, servoid_t::syringe, servoid_t::soilBox,
   servoid_t::cuvette, servoid_t::filter})

all_stepperid_t

auto robot::types::all_stepperid_t

constexpr

Initial value:

= frozen::make_unordered_set<stepperid_t>(
  {stepperid_t::plunger, stepperid_t::judges, stepperid_t::mast,
   stepperid_t::lock, stepperid_t::lazySusan})

name_to_jointid

auto robot::types::name_to_jointid

constexpr

Initial value:

= frozen::make_unordered_map<frozen::string, jointid_t>(
    {{"armBase", jointid_t::armBase},
     {"shoulder", jointid_t::shoulder},
     {"elbow", jointid_t::elbow},
     {"forearm", jointid_t::forearm},
     {"wristPitch", jointid_t::wristPitch},
     {"wristRoll", jointid_t::wristRoll},
     {"hand", jointid_t::hand},
     {"ikForward", jointid_t::ikForward},
     {"ikUp", jointid_t::ikUp},
     {"fourBarLinkage", jointid_t::fourBarLinkage},
     {"drillActuator", jointid_t::drillActuator},
     {"drillMotor", jointid_t::drillMotor}})

name_to_servoid

auto robot::types::name_to_servoid

constexpr

Initial value:

= frozen::make_unordered_map<frozen::string, servoid_t>(
  {{"microscope", servoid_t::microscope},
   {"syringe", servoid_t::syringe},
   {"cuvette", servoid_t::cuvette},
   {"filter", servoid_t::filter},
   {"soilBox", servoid_t::soilBox}})

name_to_stepperid

auto robot::types::name_to_stepperid

constexpr

Initial value:

= frozen::make_unordered_map<frozen::string, stepperid_t>(
  {{"plunger", stepperid_t::plunger},
   {"judges", stepperid_t::judges},
   {"mast", stepperid_t::mast},
   {"lock", stepperid_t::lock},
   {"lazySusan", stepperid_t::lazySusan}})

servoid_to_servo_num

auto robot::types::servoid_to_servo_num

constexpr

Initial value:

= frozen::make_unordered_map<servoid_t, int>(
  {{servoid_t::microscope, 7},
   {servoid_t::syringe, 9},
   {servoid_t::cuvette, 5},
   {servoid_t::filter, 8},
   {servoid_t::soilBox, 6}})

stepperid_to_stepper_num

auto robot::types::stepperid_to_stepper_num

constexpr

Initial value:

= frozen::make_unordered_map<stepperid_t, uint8_t>(
  {{stepperid_t::plunger, 4},
   {stepperid_t::judges, 5},
   {stepperid_t::mast, 2},
   {stepperid_t::lock, 1},
   {stepperid_t::lazySusan, 6}})