#include <Enki.h>
Inheritance diagram for Teem::EnkiSbot:
Public Member Functions | |
virtual | ~EnkiSbot () |
Destructor, remove object from world and destroy Enki instance. | |
virtual void | setSpeed (double left, double right) |
Set the speed of the left and right wheels of the robot. | |
virtual void | getCameraAverage (An::Color meanPixels[8]) |
Sbot camera orientation is geometric (i.e. CCW). | |
virtual void | getCamera (An::Color meanPixels[128]) |
Sbot camera orientation is geometric (i.e. CCW). | |
virtual void | setRingColor (const An::Color &color) |
Set the color of the Sbot ring in RGB using range [0..1]. | |
virtual void | clearEnergy (void) |
Clear the energy of this Sbot, equal to setEnergy(0). | |
virtual void | setEnergy (double energy) |
Set the energy of this Sbot to energy. | |
virtual double | getEnergy (void) |
Return the actual energy of this Sbot. | |
virtual double | getDEnergy (void) |
Return the actual energy derivate (one step increment) of this Sbot. | |
virtual void | setFrequencies (unsigned frequencies) |
Transmit sound using frequencies mask. | |
virtual unsigned | getFrequencies (void) |
Return a mask of active frequencies in the world. | |
virtual void | randomizeRealisticConditions (void) |
Get new noisy coefficient for wheel motors in realistic mode. | |
Protected Attributes | |
double | motorCoeffL |
left wheel motor noisy coefficient in realistic mode | |
double | motorCoeffR |
right wheel motor noisy coefficient in realistic mode | |
Private Member Functions | |
EnkiSbot (EnkiWorld *world, const std::string &root) | |
Private constructor, created from world. | |
Private Attributes | |
EnkiWorld * | world |
Pointer to world to be able to remove object in destructor. | |
Ishtar::VariablesPublisher | ishtarPublisher |
Ishtar publisher for accessible variables of the Enki object. | |
Static Private Attributes | |
static Ishtar::Variable< bool > * | realistic |
If true, postprocessing is applied to inputs/outputs so that simulation matches reality more closely. | |
Friends | |
class | EnkiWorld |
class | Registrar< Entity, std::string, EnkiWorld *, std::string > |