robot.c File Reference

#include <map.h>
#include <movehelper.h>
#include <pthread.h>
#include <robomath.h>
#include <robot.h>
#include <robot_orte.h>
#include <signal.h>
#include <sys/time.h>
#include <time.h>
#include <unistd.h>
#include "map_handling.h"
#include <string.h>
#include "actuators.h"
#include <robodim.h>
#include <ul_log.h>
#include "motion-control.h"

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Defines
#define	_XOPEN_SOURCE   500
#define	MOTION_CONTROL_INIT_ONLY
Functions
	UL_LOG_CUST (ulogd_robot)
void	fill_in_known_areas_in_map ()
int	robot_init ()
	Initializes the robot.
int	robot_start ()
	Starts the robot FSMs and threads.
void	robot_exit ()
	Signals all the robot threads to finish.
void	robot_destroy ()
	Stops the robot.
void	robot_get_est_pos_trans (double *x, double *y, double *phi)
void	robot_get_est_pos (double *x, double *y, double *phi)
Variables
struct robot	robot

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Define Documentation

#define _XOPEN_SOURCE   500

#define MOTION_CONTROL_INIT_ONLY

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Function Documentation

void fill_in_known_areas_in_map

(

)

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void robot_destroy

(

)

Stops the robot.

All resources alocated by robot_init() or robot_start() are dealocated here.

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void robot_exit

(

)

Signals all the robot threads to finish.

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void robot_get_est_pos	(	double *	x,
		double *	y,
		double *	phi
	)

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void robot_get_est_pos_trans	(	double *	x,
		double *	y,
		double *	phi
	)

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int robot_init

(

)

Initializes the robot.

Setup fields in robot structure, initializes FSMs and ORTE.

Returns:

0

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int robot_start

(

)

Starts the robot FSMs and threads.

Returns:

0

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UL_LOG_CUST

(

ulogd_robot

)

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Variable Documentation

struct robot robot