Class sensing_subsystem

• Defined in File sensing_subsystem.hpp

Inheritance Relationships

Base Type

• public chal::subsystem::base_sensing_subsystem< COSM_HAL_ROBOT_AVAILABLE_SENSORS >

Class Documentation

class sensing_subsystem : public chal::subsystem::base_sensing_subsystem<COSM_HAL_ROBOT_AVAILABLE_SENSORS>

Base sensing subsystem for all sensors used by all ROS robot controllers which actuate in 2D, but can sense in 3D (quasi-3D). It manages an arbitrary number of sensors, depending on which robot the HAL is built for:

• chros::sensors::light_sensor

• chros::sensors::sonar_sensor

• chros::sensors::lidar_sensor

• chros::sensors::odometry_sensor

• chsensors::proximity_sensor

• chsensors::env_sensor

• chsensors::battery_sensor

Public Functions

inline explicit sensing_subsystem(sensor_map &&sensors)

inline chsensors::battery_sensor *battery(void)

inline const chsensors::battery_sensor *battery(void) const

inline chsensors::env_sensor *env(void)

inline const chsensors::env_sensor *env(void) const

inline chros::sensors::lidar_sensor *lidar(void)

inline const chros::sensors::lidar_sensor *lidar(void) const

inline chros::sensors::light_sensor *light(void)

inline const chros::sensors::light_sensor *light(void) const

inline chros::sensors::odometry_sensor *odometry(void)

inline const chros::sensors::odometry_sensor *odometry(void) const

inline chsensors::proximity_sensor *proximity(void)

inline const chsensors::proximity_sensor *proximity(void) const

inline chros::sensors::sonar_sensor *sonar(void)

inline const chros::sensors::sonar_sensor *sonar(void) const