robot.c File Reference

#include <math.h>
#include <string.h>
#include <stdlib.h>
#include "robot.h"
#include "general.h"
#include "config.h"
#include "def.h"

Go to the source code of this file.

Functions
robot_t *	robot_init (int x, int y, int a, int move_noise, float turn_noise, int sense_tag_noise, int sense_wall_noise, int radius)
void	robot_destroy (robot_t *robot)
void	robot_set_pose (robot_t *robot, int x, int y, int a)
void	robot_set_noise (robot_t *robot, int move_noise, float turn_noise, int sense_tag_noise, int sense_wall_noise)
void	robot_drive (robot_t *robot, int distance, int angle, int uncertain)
float	robot_sense_tag (robot_t *robot, rfid_t *rfids, enviroment_t *envs)
float	robot_sense_wall (robot_t *robot, enviroment_t *envs)
float	robot_eval_tag (robot_t *robot, enviroment_t *envs)
float	robot_eval_wall (robot_t *robot, enviroment_t *envs)

Detailed Description

Author

Eriks Zaharans

Date

1 Jul 2013

DESCRIPTION

Robot model function library.

Definition in file robot.c.

Function Documentation

void robot_destroy

(

robot_t *

robot

)

Deinitialize robot

Parameters

robot

Pointer to robot structure

Returns

Void

Definition at line 70 of file robot.c.

void robot_drive	(	robot_t *	robot,
		int	distance,
		int	angle,
		int	uncertain
	)

Drive robot

Parameters

robot	Pointer to robot structure
distance	Distance traveled (mm)
angle	Angle change (Degrees)

Returns

Void

Definition at line 115 of file robot.c.

float robot_eval_tag	(	robot_t *	robot,
		enviroment_t *	envs
	)

Evaluate tag

Parameters

robot	Pointer to robot structure
envs	Pointer to enviroment structure

Returns

Probability of reading the tag

Definition at line 214 of file robot.c.

float robot_eval_wall	(	robot_t *	robot,
		enviroment_t *	envs
	)

Evaluate wall

Parameters

robot	Pointer to robot structure
envs	Pointer to enviroment structure

Returns

Probability of hitting the wall

Definition at line 250 of file robot.c.

robot_t* robot_init	(	int	x,
		int	y,
		int	a,
		int	move_noise,
		float	turn_noise,
		int	sense_tag_noise,
		int	sense_wall_noise,
		int	radius
	)

Initialize robot

Parameters

x	X coordinate of position (mm)
y	Y coordinate of position (mm)
a	Heading direction (Radians)
move_noise	Error created during forward or backward motion (mm)
turn_noise	Error created during turning (Radians)
sense_tag_noise	Error of tag read (mm)
sense_wall_noise	Error of wall read (mm)
radius	Robot radius (mm)

Returns

Pointer to robot structure

Definition at line 38 of file robot.c.

float robot_sense_tag	(	robot_t *	robot,
		rfid_t *	rfids,
		enviroment_t *	envs
	)

Calculate distance to read tag

Parameters

robot	Pointer to robot structure
rfids	Pointer to RFID structure
envs	Pointer to enviroment structure

Returns

Distance to read tag (mm)

Definition at line 150 of file robot.c.

float robot_sense_wall	(	robot_t *	robot,
		enviroment_t *	envs
	)

Calculate distance to read tag

Parameters

robot	Pointer to robot structure
envs	Pointer to enviroment structure

Returns

Distance to closest wall (mm)

Definition at line 188 of file robot.c.

void robot_set_noise	(	robot_t *	robot,
		int	move_noise,
		float	turn_noise,
		int	sense_tag_noise,
		int	sense_wall_noise
	)

Set error/noise for motion and sensors

Parameters

robot	Pointer to robot structure
move_noise	Error created during forward or backward motion (mm)
turn_noise	Error created during turning (Radians)
sense_tag_noise	Error of tag read (mm)
sense_wall_noise	Error of wall read (mm)

Returns

Void

Definition at line 100 of file robot.c.

void robot_set_pose	(	robot_t *	robot,
		int	x,
		int	y,
		int	a
	)

Set pose of the robot (x, y, heading direction)

Parameters

robot	Pointer to robot structure
x	X coordinate of position (mm)
y	Y coordinate of position (mm)
a	Heading direction (Radians)

Returns

Void

Definition at line 84 of file robot.c.