Sensor Functions

This set of functions allow to get the values of the sensor robots either the proprioceptive ones (giving information about leg positioning) and the no proprioceptive ones (giving information about the environment).

double get_angle (unsigned int leg,unsigned int joint,t_robot *r)

 

Returns the angle at which a given joint of a given leg is.

void get_leg_positon (unsigned int leg,double *position,t_robot *r)

 

Return the leg position in the leg frame of reference.

void get_position (unsigned int leg,double *position,t_robot *r)

 

Return the leg position in the body frame of reference.

void get_position_rf (unsigned int leg,double *position,t_robot *r)

 

Return the leg position in the reference frame of reference.

void get_world_position (unsigned int leg,double *position,t_robot *r)

 

Return the leg position in the world frame of reference.

boolean joint_bounds (unsigned int leg joint bound, t_robot *r)

 

Returns true if the indicated joint of the given leg is in an extreme position of its range of movement ($\pm 1$ degree).

double get_inclination_x (t_robot *r)

 

Returns the angle (in radians) of the X axis of the robot with respect to the horizontal plane.

double get_inclination_y (t_robot *r)

 

Returns the angle (in radians) of the Y axis of the robot with respect to the horizontal plane.

boolean touch_sensors (unsigned int leg,t_robot *r)

 

Returns TRUE if the leg is in contact with (or inside) the ground.

boolean stable (t_robot *r)

 

Returns TRUE if the current set of footholds properly support the robot.