BeoSubTwoBal Class Reference

Definition and access functions for the BeoSub. More...

#include <BeoSub/BeoSubTwoBal.H>

Inheritance diagram for BeoSubTwoBal:

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Collaboration diagram for BeoSubTwoBal:

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List of all members.

Public Member Functions
Constructors and Destructors

	BeoSubTwoBal (OptionManager &mgr)
	Constructor.
	~BeoSubTwoBal ()
	Destructor.
Low-level access functions

void	thrust (const float leftval, const float rightval, const bool blocking=false)
	Activate the thrusters.
void	getThrusters (float &leftval, float &rightval)
	Get the current thruster settings.
void	setLFballast (const float val, const bool blocking=false)
	Set the left-front ballast. Value is between 0.0 (empty) and 1.0 (full).
void	setLRballast (const float val, const bool blocking=false)
	Set the left-rear ballast. Value is between 0.0 (empty) and 1.0 (full).
void	setRFballast (const float val, const bool blocking=false)
	Set the right-front ballast. Value is between 0.0 (empty) and 1.0 (full).
void	setRRballast (const float val, const bool blocking=false)
	Set the right-rear ballast. Value is between 0.0 (empty) and 1.0 (full).
void	setBallasts (const float lf, const float lr, const float rf, const float rr, const bool blocking=false)
	Set all ballasts.
float	getLFballast ()
	Get the left-front ballast. Value is between 0.0 (empty) and 1.0 (full).
float	getLRballast ()
	Get the left-rear ballast. Value is between 0.0 (empty) and 1.0 (full).
float	getRFballast ()
	Get the right-front ballast. Value is between 0.0 (empty) and 1.0 (full).
float	getRRballast ()
	Get the right-rear ballast. Value is between 0.0 (empty) and 1.0 (full).
void	getBallasts (float &lf, float &lr, float &rf, float &rr)
	Get all ballasts.
void	dropMarker (const bool blocking=false)
	Drop a marker.
Image< PixRGB< byte > >	grabImage (const enum BeoSubCamera cam)
	Grab a an image from one of the cameras.
Protected Member Functions
void	start1 ()
	get started, before our subcomponents start
void	start2 ()
	get started, after our subcomponents have started
Protected Attributes
NModelParam< int >	itsLeftThrusterServoNum
	servo num for left thruster
NModelParam< int >	itsRightThrusterServoNum
	servo num for right thruster
nub::soft_ref< HMR3300 >	itsHMR3300
	compass for heading
nub::soft_ref< BeoChip >	itsBeoLeft
nub::soft_ref< BeoChip >	itsBeoRight
	our left and rt beochips
rutz::shared_ptr< BeoSubListener >	itsBeoLisLeft
rutz::shared_ptr< BeoSubListener >	itsBeoLisRight
	listeners
BeoSubSensor< float >	itsDepthSensor
	our depth sensor data
nub::soft_ref< BeoSubBallast >	itsLFballast
nub::soft_ref< BeoSubBallast >	itsLRballast
nub::soft_ref< BeoSubBallast >	itsRFballast
nub::soft_ref< BeoSubBallast >	itsRRballast
	our 4 ballasts
nub::soft_ref< BeoSubIMU >	itsIMU
	our IMU
nub::soft_ref< IEEE1394grabber >	itsCameraFront
nub::soft_ref< IEEE1394grabber >	itsCameraDown
nub::soft_ref< IEEE1394grabber >	itsCameraUp
	our three cameras
float	itsThrustLeft
float	itsThrustRight
	our current thruster settings
Friends
class	BeoSubListener

Detailed Description

Definition and access functions for the BeoSub.

BeoSub is an autonomous visually-guided submarine. This class impoements the highl-evel functionality, relying on low-level drivers to handle motor activation, compass reading, etc

Definition at line 60 of file BeoSubTwoBal.H.