C# Class CSharpSlam.RobotControl

Represents the control functions of a Neobotix robot and the visual appearance on the computer screen.

Inheritance: IRobotControl

Private Properties

Property	Type	Description
CalculatePose	void
GetLaserScannerData	].double[
PoseChanged	void
RequestLaserScannerDataRefresh	void
StartSimulation	void
StopSimulation	void

Method	Description
ClearMap ( ) : void	Clears the layer data collected for the map.
Connect ( string host ) : int	Function for connecting to the robot.
Disconnect ( ) : void	Disconnects the robot.
GetLayers ( ) : Layers	TODO: test function, should be removed later
GetWheelSpeed ( ) : double[]
OnSimulationStateChanged ( ) : void	Trigger for the simulation state change event.
RobotControl ( ) : System	Initializes a new instance of the RobotControl class.
SetSimulationState ( SimulationCommand command ) : void	Starts, stops or resets the V-REP EDU simulation according to the given command.
SetWheelSpeed ( double linAng ) : void
SetWheelSpeed ( double r, double l ) : void	Sets the speed of the joints of the robot.

Method	Description
CalculatePose ( object sender, EventArgs e ) : void	Switch Pose data between Localization and Mapbuilder classes. Localization calculates the new Pose data from the given layers by the Mapbuilder and then give it back to the sender.
GetLaserScannerData ( ) : ].double[	Collects the laser scanner data from the simulator.
PoseChanged ( object sender, EventArgs e ) : void	Switch Pose data between Localization and Mapbuilder classes when any changes happened.
RequestLaserScannerDataRefresh ( object sender, EventArgs e ) : void	Request to refresh the laser scanner data.
StartSimulation ( ) : void	Starts the simulation in the V-REP EDU application and begins drawing the map on a new thread.
StopSimulation ( ) : void	Stops the simulation in the V-REP EDU application and aborts the map drawing thread.

Clears the layer data collected for the map.

public ClearMap ( ) : void
return	void

Function for connecting to the robot.

public Connect ( string host ) : int
host	string	Address of the robot.
return	int

Disconnects the robot.

public Disconnect ( ) : void
return	void

TODO: test function, should be removed later

public GetLayers ( ) : Layers
return	Layers

public GetWheelSpeed ( ) : double[]
return	double[]

Trigger for the simulation state change event.

public OnSimulationStateChanged ( ) : void
return	void

Initializes a new instance of the RobotControl class.

public RobotControl ( ) : System
return	System

Starts, stops or resets the V-REP EDU simulation according to the given command.

public SetSimulationState ( SimulationCommand command ) : void
command	SimulationCommand	The given command.
return	void

public SetWheelSpeed ( double linAng ) : void
linAng	double
return	void

Sets the speed of the joints of the robot.

public SetWheelSpeed ( double r, double l ) : void
r	double	The right joint.
l	double	The left joint.
return	void