#include <io.h>

Public Member Functions
	IO (Communication *comm=nullptr)

	IO (std::string robot_name)

void	localization_viz_send_laser_scan (double angle_min, double angle_max, double angle_inc, int subsample, std::vector< float > prediction)

void	localization_viz_send_particles (int N, std::vector< std::vector< double >> particle_poses, double mapOrientation)

void	localization_viz_send_pose (std::vector< double > pose, double mapOrientation)

bool	ok ()
	Check connection to the robot. More...

void	play (const std::string &file)
	Play a sound file out loud. The file must be placed in the ~/MRC_audio folder and must be of .mp3 or .wav format. More...

bool	readBackBumperData (BumperData &bumper)
	Receive new BumperData from the rear bumper. More...

bool	readFrontBumperData (BumperData &bumper)
	Receive new BumperData from the front bumper. More...

bool	readLaserData (LaserData &scan)
	Receive new laser data if available. More...

bool	readOdometryData (OdometryData &odom)
	Receive new odometrydata if available. More...

bool	readPoseData (PoseData &pose)
	Receive new pose data if available. More...

bool	resetOdometry ()
	Set the current position as (0,0,0) More...

void	sendBaseReference (double vx, double vy, double va)
	Send a command velocity to the robot. More...

void	sendOpendoorRequest ()
	Broadcast a request to open nearby doors. Works in simulator only. More...

bool	sendPath (std::vector< std::vector< double >> path, std::array< double, 3 > color={0.0, 0.0, 0.0}, double width=0.02, int id=0)
	Send a path to be drawn in rviz. More...

bool	sendPoseEstimate (double x, double y, double yaw)
	Send an estimate of the current robot pose to be shown in rviz, relative to the centre of the map (same as simulator coordinates). More...

void	speak (const std::string &text)
	Make the robot speak the input text. This function is non-blocking. More...

	~IO ()

Private Member Functions
bool	sendPoseEstimate (double px, double py, double pz, double rr, double rp, double ry)
	Send an estimate of the current robot pose to be shown in rviz. Rotation is provided as roll pitch and yaw. More...

bool	sendPoseEstimate (double px, double py, double pz, double rx, double ry, double rz, double rw)
	Send an estimate of the current robot pose to be shown in rviz. Rotation is provided as a quaternion. More...

Private Attributes
Communication *	comm_

bool	odom_set_ = false

OdometryData	prev_odom_

Detailed Description

Definition at line 18 of file io.h.

Constructor & Destructor Documentation

◆ IO() [1/2]

emc::IO::IO ( Communication * comm = nullptr )

Definition at line 18 of file io.cpp.

◆ IO() [2/2]

emc::IO::IO ( std::string robot_name )

Definition at line 24 of file io.cpp.

◆ ~IO()

emc::IO::~IO ( )

Definition at line 28 of file io.cpp.

Member Function Documentation

◆ localization_viz_send_laser_scan()

void emc::IO::localization_viz_send_laser_scan	(	double	angle_min,
		double	angle_max,
		double	angle_inc,
		int	subsample,
		std::vector< float >	prediction
	)

Definition at line 199 of file io.cpp.

◆ localization_viz_send_particles()

void emc::IO::localization_viz_send_particles	(	int	N,
		std::vector< std::vector< double >>	particle_poses,
		double	mapOrientation
	)

Definition at line 205 of file io.cpp.

◆ localization_viz_send_pose()

void emc::IO::localization_viz_send_pose	(	std::vector< double >	pose,
		double	mapOrientation
	)

Definition at line 211 of file io.cpp.

◆ ok()

bool emc::IO::ok ( )

Check connection to the robot.

Returns: true Connected to the robot; false Connection to the robot lost

Definition at line 119 of file io.cpp.

◆ play()

void emc::IO::play ( const std::string & file )

Play a sound file out loud. The file must be placed in the ~/MRC_audio folder and must be of .mp3 or .wav format.

Parameters

file	filename, including extension

Definition at line 114 of file io.cpp.

◆ readBackBumperData()

bool emc::IO::readBackBumperData ( BumperData & bumper )

Receive new BumperData from the rear bumper.

Parameters

bumper Bumberdata object to write the new data to, untouched if no data is available

Returns: true if new data was available; false if not

Definition at line 84 of file io.cpp.

◆ readFrontBumperData()

bool emc::IO::readFrontBumperData ( BumperData & bumper )

Receive new BumperData from the front bumper.

Parameters

bumper Bumberdata object to write the new data to, untouched if no data is available

Returns: true if new data was available; false if not

Definition at line 79 of file io.cpp.

◆ readLaserData()

bool emc::IO::readLaserData ( LaserData & scan )

Receive new laser data if available.

Parameters

scan	reference to a LaserData object to write the new data to

Returns: true if new laser data was available; false if not

Definition at line 34 of file io.cpp.

◆ readOdometryData()

bool emc::IO::readOdometryData ( OdometryData & odom )

Receive new odometrydata if available.

Parameters

[out] odom reference to an OdometryData object to write the new data to. provides displacement since last time this function or resetOdometry() was called.

Returns: true if new data was available; false if not

Definition at line 44 of file io.cpp.

◆ readPoseData()

bool emc::IO::readPoseData ( PoseData & pose )

Receive new pose data if available.

Parameters

pose	reference to a PoseData object to write the new data to

Returns: true if new pose data was available; false if not

Definition at line 39 of file io.cpp.

◆ resetOdometry()

bool emc::IO::resetOdometry ( )

Set the current position as (0,0,0)

Returns: true if new data was available to reset, false if not

Definition at line 69 of file io.cpp.

◆ sendBaseReference()

void emc::IO::sendBaseReference	(	double	vx,
		double	vy,
		double	va
	)

Send a command velocity to the robot.

Parameters

vx	[m/s] Desired velocity in x direction (forward)
vy	[m/s] Desired velocity in y direction (left)
va	[rad/s] Desired rotational velocity. Turning to the left is positive

Definition at line 89 of file io.cpp.

◆ sendOpendoorRequest()

void emc::IO::sendOpendoorRequest ( )

Broadcast a request to open nearby doors. Works in simulator only.

Definition at line 94 of file io.cpp.

◆ sendPath()

bool emc::IO::sendPath	(	std::vector< std::vector< double >>	path,
		std::array< double, 3 >	color = `{0.0, 0.0, 0.0}`,
		double	width = `0.02`,
		int	id = `0`
	)

Send a path to be drawn in rviz.

Parameters

path	The sequence of points, between which the path will be drawn. The sequence must be provided as a vector of points, where each point is formatted as {x,y,z} or {x,y}. Coordinates are relative to the centre of the map (same as simulator coordinates).
color	The color in which the path will be drawn. Format is {r,g,b}, with each value between 0.0 and 1.0.
width	[m] Line width.
id	The id of this path. When drawing multiple paths, each sequence must have a unique id. Sending a new path with the same id will overwrite the previous path.

Returns: true Path is sent to rviz.; false Path does not have enough valid points.

Definition at line 124 of file io.cpp.

◆ sendPoseEstimate() [1/3]

bool emc::IO::sendPoseEstimate	(	double	px,
		double	py,
		double	pz,
		double	rr,
		double	rp,
		double	ry
	)

private

Send an estimate of the current robot pose to be shown in rviz. Rotation is provided as roll pitch and yaw.

Parameters

px	The x coordinate of the position.
py	The y coordinate of the position.
pz	The z coordinate of the position.
rr	The roll component of the rotation.
rp	The pitch component of the rotation.
ry	The yaw component of the rotation.

Definition at line 183 of file io.cpp.

◆ sendPoseEstimate() [2/3]

bool emc::IO::sendPoseEstimate	(	double	px,
		double	py,
		double	pz,
		double	rx,
		double	ry,
		double	rz,
		double	rw
	)

private

Send an estimate of the current robot pose to be shown in rviz. Rotation is provided as a quaternion.

Parameters

px	The x coordinate of the position.
py	The y coordinate of the position.
pz	The z coordinate of the position.
rx	The x component of the rotation.
ry	The y component of the rotation.
rz	The z component of the rotation.
rw	The w component of the rotation.

Definition at line 172 of file io.cpp.

◆ sendPoseEstimate() [3/3]

bool emc::IO::sendPoseEstimate	(	double	x,
		double	y,
		double	yaw
	)

Send an estimate of the current robot pose to be shown in rviz, relative to the centre of the map (same as simulator coordinates).

Parameters

x	The x coordinate
y	The y coordinate
yaw	The yaw rotation

Definition at line 191 of file io.cpp.

◆ speak()

void emc::IO::speak ( const std::string & text )

Make the robot speak the input text. This function is non-blocking.

Parameters

text	Sentence to be spoken by the robot.

Definition at line 104 of file io.cpp.

Member Data Documentation

◆ comm_

Communication* emc::IO::comm_

private

Definition at line 177 of file io.h.

◆ odom_set_

bool emc::IO::odom_set_ = false

private

Definition at line 175 of file io.h.

◆ prev_odom_

OdometryData emc::IO::prev_odom_

private

Definition at line 174 of file io.h.

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

io.h
io.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ IO() [1/2]

◆ IO() [2/2]

◆ ~IO()

Member Function Documentation

◆ localization_viz_send_laser_scan()

◆ localization_viz_send_particles()

◆ localization_viz_send_pose()

◆ ok()

◆ play()

◆ readBackBumperData()

◆ readFrontBumperData()

◆ readLaserData()

◆ readOdometryData()

◆ readPoseData()

◆ resetOdometry()

◆ sendBaseReference()

◆ sendOpendoorRequest()

◆ sendPath()

◆ sendPoseEstimate() [1/3]

◆ sendPoseEstimate() [2/3]

◆ sendPoseEstimate() [3/3]

◆ speak()

Member Data Documentation

◆ comm_

◆ odom_set_

◆ prev_odom_