RobotState Class Reference

#include <robot_state.h>

Public Member Functions
	RobotState (const Point &position, const Vector &velocity, const Angle &orientation, const AngularVelocity &angular_velocity)
	RobotState (const TbotsProto::RobotState &robot_state_proto)
Point	position () const
Vector	velocity () const
Angle	orientation () const
AngularVelocity	angularVelocity () const
bool	operator== (const RobotState &other) const
bool	operator!= (const RobotState &other) const

Detailed Description

This class represents the physical state of a robot

Constructor & Destructor Documentation

RobotState() [1/2]

RobotState ( const Point &  position, const Vector &  velocity, const Angle &  orientation, const AngularVelocity &  angular_velocity  )

explicit

Creates a new robot state with the given position, velocity, orientation, angular velocity, and timestamp

Parameters

position	The position of the robot, with coordinates in metres
velocity	The velocity of the robot, in metres per second
orientation	The orientation of the robot
angular_velocity	The angular velocity of the robot

RobotState() [2/2]

RobotState ( const TbotsProto::RobotState &  robot_state_proto )

explicit

Creates a new robot state based on the TbotsProto::RobotState protobuf representation

Parameters

robot_state_proto

The TbotsProto::RobotState protobuf which this robot state should be based on

Member Function Documentation

angularVelocity()

AngularVelocity angularVelocity

(

)

const

Returns the angular velocity of the robot represented by this state

Returns

the angular velocity of the robot represented by this state

operator!=()

bool operator!=

(

const RobotState &

other

)

const

Defines the inequality operator for a RobotState.

Parameters

other

The robot state to compare against for inequality

Returns

True if the other robot state is not equal to this robot state, and false otherwise

operator==()

bool operator==

(

const RobotState &

other

)

const

Defines the equality operator for a RobotState. RobotStates are equal if all their members are equal

Parameters

other

The robot state to compare against for equality

Returns

True if the other robot state is equal to this robot state, and false otherwise

orientation()

Angle orientation

(

)

const

Returns the orientation of the robot represented by this state

Returns

the orientation of the robot represented by this state

position()

Point position

(

)

const

Returns the position of the robot represented by this state

Returns

the position of the robot represented by this state

velocity()

Vector velocity

(

)

const

Returns the velocity of the robot represented by this state

Returns

the velocity of the robot represented by this state

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The documentation for this class was generated from the following files:

• src/software/world/robot_state.h
• src/software/world/robot_state.cpp