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48 bool general_command(
int act, std::string& response, std::string& errormsg);
104 bool move(
char direction,
int speed = 5);
110 bool rotate(
char direction,
int speed = 5);
123 bool pathDelete(
const std::string& path_name);
131 bool pathRename(
const std::string& old_name,
const std::string& new_name);
137 bool goHome(
bool dock,
int speed = 5);
147 const std::string& section);
bool path_management(int act)
void loadConfig(const mrpt::config::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 pathGetList(std::string &path_list)
Get list of saved paths.
bool pathDelete(const std::string &path_name)
std::thread m_videoThread
bool getEncoders(TEncoders &encoders)
Returns a TEncoders with information of Rovio encoders (since last read, it seems Rovio is continuous...
bool getNextImageSync(mrpt::obs::CObservationImage::Ptr &lastImage)
Returns the next frame from Rovio's live video stream, after starting the live streaming with retriev...
struct mrpt::hwdrivers::CRovio::TEncoders encoders
A class to interface a Rovio robot (manufactured by WowWee).
std::shared_ptr< mrpt::obs ::CObservationImage > Ptr
bool m_videothread_initialized_error
bool send_cmd_action(int act, int speed)
Contains classes for various device interfaces.
bool move(char direction, int speed=5)
move send Rovio the command to move in the specified direcction
bool m_videothread_initialized_done
bool rotate(char direction, int speed=5)
rotate send Rovio the command to rotate in the specified direcction 'r'->right, 'l'->left
bool m_videothread_finished
bool captureImageAsync(mrpt::img::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 isVideoStreamming() const
Return true if video is streaming correctly.
This class allows loading and storing values and vectors of different types from a configuration text...
Parameters for the Brown-Conrady camera lens distortion model.
void thread_video()
This function takes a frame and waits until getLastImage ask for it, and so on.
bool m_videothread_must_exit
void initialize()
Establish Connection with Rovio and log in its system: Important, fill out "options" members BEFORE c...
bool takeHeadUp()
Head positions.
A class for storing images as grayscale or RGB bitmaps.
bool pathRecordSave(const std::string &path_name)
bool stop_video()
This function stops and joins the thread launched by "retrieve_video()".
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 getRovioState(TRovioState &state)
Returns a TRovioState with internal information of Rovio (State, Navigation Signal Strength,...
bool pathRename(const std::string &old_name, const std::string &new_name)
mrpt::obs::CObservationImage::Ptr buffer_img
bool general_command(int act, std::string &response, std::string &errormsg)
struct mrpt::hwdrivers::CRovio::TOptions options
mrpt::img::TCamera cameraParams
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