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68 enum status {idle, driving_home, docking, executing_path, recording_path};
98 bool move(
char direction,
int speed=5 );
104 bool rotate(
char direction,
int speed=5 );
126 bool pathRename(
const std::string &old_name,
const std::string &new_name);
139 const std::string §ion );
bool goHome(bool dock, int speed=5)
goHome(bool dock) drives Rovio in front of charging station if the paremeter dock is set to false,...
bool rotate(char direction, int speed=5)
rotate send Rovio the command to rotate in the specified direcction 'r'->right, 'l'->left
bool getRovioState(TRovioState &state)
Returns a TRovioState with internal information of Rovio (State, Navigation Signal Strength,...
bool getNextImageSync(mrpt::obs::CObservationImagePtr &lastImage)
Returns the next frame from Rovio's live video stream, after starting the live streaming with retriev...
void thread_video()
This function takes a frame and waits until getLastImage ask for it, and so on.
bool pathRename(const std::string &old_name, const std::string &new_name)
mrpt::utils::TCamera cameraParams
A class to interface a Rovio robot (manufactured by WowWee).
void initialize()
Establish conection with Rovio and log in its system: Important, fill out "options" members BEFORE ca...
bool general_command(int act, std::string &response, std::string &errormsg)
bool takeHeadUp()
Head positions.
bool getEncoders(TEncoders &encoders)
Returns a TEncoders with information of Rovio encoders (since last read, it seems Rovio is continuous...
bool m_videothread_initialized_error
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
bool path_management(int act)
bool m_videothread_initialized_done
A class for storing images as grayscale or RGB bitmaps.
bool m_videothread_finished
mrpt::obs::CObservationImagePtr buffer_img
bool isVideoStreamming() const
Return true if video is streaming correctly.
void loadConfig(const mrpt::utils::CConfigFileBase &configSource, const std::string §ion)
Loads the rovio camera calibration parameters (of leave the default ones if not found) (See CGenericS...
bool getPosition(mrpt::math::TPose2D &out_pose)
Returns the Rovio's pose.
bool pathDelete(const std::string &path_name)
This class provides simple critical sections functionality.
This class allows loading and storing values and vectors of different types from a configuration text...
mrpt::synch::CCriticalSection buffer_img_cs
bool move(char direction, int speed=5)
move send Rovio the command to move in the specified direcction
bool pathGetList(std::string &path_list)
Get list of saved paths.
bool path_management(int act, const std::string &path_name)
bool m_videothread_must_exit
This structure contains the information needed to interface the threads API on each platform:
Structure to hold the parameters of a pinhole camera model.
bool pathRecordSave(const std::string &path_name)
mrpt::system::TThreadHandle m_videoThread
bool send_cmd_action(int act, int speed)
bool captureImageAsync(mrpt::utils::CImage &out_img, bool recttified)
Returns a snapshot from Rovio, if rectified is set true, the returned image is rectified with the par...
bool retrieve_video()
This function launchs a thread with the function "thread_video()" which gets frames into a buffer.
bool stop_video()
This function stops and joins the thread launched by "retrieve_video()".
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