23 #ifndef __PLUGINS_COLLI_UTILS_ROB_ROBOSHAPE_H_ 24 #define __PLUGINS_COLLI_UTILS_ROB_ROBOSHAPE_H_ 43 bool is_round_robot( );
44 bool is_angular_robot( );
47 bool is_robot_reading_for_rad(
float anglerad,
float length );
50 bool is_robot_reading_for_deg(
float angledeg,
float length );
53 float get_robot_length_for_rad(
float anglerad );
56 float get_robot_length_for_deg(
float angledeg );
62 float get_complete_radius();
71 float get_complete_width_x();
74 float get_complete_width_y();
77 float get_laser_offset_x();
80 float get_laser_offset_y();
83 float get_angle_front_left()
const;
86 float get_angle_front_right()
const;
89 float get_angle_back_left()
const;
92 float get_angle_back_right()
const;
95 float get_angle_left()
const;
98 float get_angle_right()
const;
101 float get_angle_front()
const;
104 float get_angle_back()
const;
113 float radius_, width_x_, width_y_;
114 float laser_offset_x_, laser_offset_y_;
115 float width_add_front_, width_add_back_, width_add_left_, width_add_right_;
116 float robot_to_front_, robot_to_right_, robot_to_back_, robot_to_left_;
119 float ang_front_left_, ang_front_right_, ang_back_left_, ang_back_right_;
120 float ang_left_, ang_right_, ang_front_, ang_back_;
Fawkes library namespace.
This is a class containing all roboshape information.
Interface for configuration handling.