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

Classes
class	bad_datapoint_access

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 = std::string
	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 { frontLeftWheel , frontLeftSwerve , frontRightWheel , frontRightSwerve , rearLeftWheel , rearLeftSwerve , rearRightWheel , rearRightSwerve , armBase , shoulder , elbow , forearm , wristDiffRight , wristDiffLeft , hand , activeSuspension , drillActuator , drillMotor }
	The motors on the robot.

enum class	mountedperipheral_t { none , arm , armServo , scienceStation , lidar }
	the mounted peripheral on the robot.

enum class	jointid_t { frontLeftSwerve , frontRightSwerve , rearLeftSwerve , rearRightSwerve , armBase , shoulder , elbow , forearm , wristPitch , wristRoll , hand , activeSuspension , ikForward , ikUp }

Variables
constexpr auto	all_jointid_t

constexpr auto	name_to_jointid

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::activeSuspension,
     jointid_t::ikForward, jointid_t::ikUp})

◆ name_to_jointid

auto robot::types::name_to_jointid

constexpr

Initial value:

= frozen::make_unordered_map<frozen::string, jointid_t>(
    {{"frontLeftSwerve", jointid_t::frontLeftSwerve},
     {"frontRightSwerve", jointid_t::frontRightSwerve},
     {"rearLeftSwerve", jointid_t::rearLeftSwerve},
     {"rearRightSwerve", jointid_t::rearRightSwerve},
     {"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},
     {"activeSuspension", jointid_t::activeSuspension},
     {"ikForward", jointid_t::ikForward},
     {"ikUp", jointid_t::ikUp}})

Classes

Typedefs