compAIR/libcreate
compAIR/libcreate
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Update documentation

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This commit is contained in:
Jacob Perron 2016-11-13 01:15:07 -08:00
parent 9c93971d7d
commit 78f0af78d1
2 changed files with 216 additions and 89 deletions
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26
include/create/types.h
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@ -45,8 +45,6 @@ namespace create {
V_ALL = 0xFFFFFFFF
};
class RobotModel {
public:
bool operator==(RobotModel& other) const;
@ -59,9 +57,20 @@ namespace create {
float getMaxVelocity() const;
float getWheelDiameter() const;
static RobotModel ROOMBA_400; // Roomba 400 series
static RobotModel CREATE_1; // Roomba 500 series
static RobotModel CREATE_2; // Roomba 600 series
/**
* \brief Compatible with Roomba 400 series and earlier.
*/
static RobotModel ROOMBA_400;
/**
* \brief Compatible with Create 1 or Roomba 500 series.
*/
static RobotModel CREATE_1;
/**
* \brief Compatible with Create 2 or Roomba 600 series and greater.
*/
static RobotModel CREATE_2;
private:
uint32_t id;
@ -260,10 +269,17 @@ namespace create {
IR_CHAR_VIRTUAL_WALL = 162
};
/**
* \brief Represents a robot pose.
*/
struct Pose {
float x;
float y;
float yaw;
/**
* \brief 3x3 covariance matrix in row-major order.
*/
std::vector<float> covariance;
};