Enki::Khepera Class Reference
[Robots classes]

#include <Khepera.h>

Inheritance diagram for Enki::Khepera:

List of all members.

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Detailed Description

A simple model of the Khepera robot.

Public Types
enum	Capabilities { CAPABILITIY_NONE = 0, CAPABILITIY_BASIC_SENSORS = 0x1, CAPABILITY_CAMERA = 0x2 }
Public Member Functions
	Khepera (unsigned capabilities=CAPABILITIY_BASIC_SENSORS)
	Create a Khepera with certain modules aka capabilities (basic).
void	step (double dt)
	Call Khepera::controlStep and do all the calculations.
void	resetEncoders ()
	Reset the encoder. Should be called when robot is moved manually.
Public Attributes
IRSensor	infraredSensor0
	The infrared sensor 0 (left).
IRSensor	infraredSensor1
	The infrared sensor 1 (front-left).
IRSensor	infraredSensor2
	The infrared sensor 2 (front).
IRSensor	infraredSensor3
	The infrared sensor 3 (front).
IRSensor	infraredSensor4
	The infrared sensor 4 (front-right).
IRSensor	infraredSensor5
	The infrared sensor 5 (right).
IRSensor	infraredSensor6
	The infrared sensor 6 (back).
IRSensor	infraredSensor7
	The infrared sensor 7 (back).
CircularCam	camera
	Linear camera.
double	leftSpeed
	The bot's left and right wheel speed [1:100] cm/sec.
double	rightSpeed
	The bot's left and right wheel speed [1:100] cm/sec.
double	leftEncoder
	The encoder for left and right wheel speed.
double	rightEncoder
	The encoder for left and right wheel speed.
Protected Attributes
An::Vector	oldPos
	Save of last position to compute encoders.
double	oldAngle
	Save of last angle to compute encoders.

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Member Enumeration Documentation

enum Enki::Khepera::Capabilities

Enumeration values: CAPABILITIY_NONE  The bot's capabilities. You can simply select a predefined set of sensors. These correspond to the different extension modules that exist for the Khepera. CAPABILITIY_BASIC_SENSORS  Basic_Sensors: Just the 8 IRSensors of the base module. CAPABILITY_CAMERA  Camera: add a linear camera.

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

• enki/robots/khepera/Khepera.h
• enki/robots/khepera/Khepera.cpp

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