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<title>libwireless: Sensor Matrix</title>
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<div class="contents">
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<h1>Sensor Matrix</h1>
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<p>the robot sensor matrix
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<a href="#_details">More...</a></p>
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<table border="0" cellpadding="0" cellspacing="0">
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<tr><td colspan="2"><h2>Data Structures</h2></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">struct &nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="structSensorMatrix.html">SensorMatrix</a></td></tr>
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<tr><td colspan="2"><h2>Defines</h2></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga90947d420e328af375fda40c9b199b7d"></a><!-- doxytag: member="sensormatrix::MAXIMUM_XBEE_ID" ref="ga90947d420e328af375fda40c9b199b7d" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>MAXIMUM_XBEE_ID</b>&nbsp;&nbsp;&nbsp;0x10</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga782ef5f54e97435c631329a5e536f680"></a><!-- doxytag: member="sensormatrix::READING_UNKNOWN" ref="ga782ef5f54e97435c631329a5e536f680" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>READING_UNKNOWN</b>&nbsp;&nbsp;&nbsp;0xFF</td></tr>
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<tr><td colspan="2"><h2>Functions</h2></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#ga09523e52546e7929288795e1e5f0f9a8">sensor_matrix_create</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Create a sensor matrix.  <a href="#ga09523e52546e7929288795e1e5f0f9a8"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#gaf251d97aeb23af9156c0527692819da7">sensor_matrix_set_reading</a> (int observer, int robot, int reading)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set a reading in a sensor matrix.  <a href="#gaf251d97aeb23af9156c0527692819da7"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#ga031d5a4d15603e57379aad22da36e300">sensor_matrix_get_reading</a> (int observer, int robot)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get a reading in a sensor matrix.  <a href="#ga031d5a4d15603e57379aad22da36e300"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#gaea879c1d5f8a8a079066d8df005f3549">sensor_matrix_set_in_ring</a> (int robot, int in)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set whether the robot is in the token ring.  <a href="#gaea879c1d5f8a8a079066d8df005f3549"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#gac668dfe28e56b5a314789d395eda3b27">sensor_matrix_get_in_ring</a> (int robot)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get whether the robot is in the sensor ring.  <a href="#gac668dfe28e56b5a314789d395eda3b27"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#ga3545800eec0adba2fc63604206b8fb24">sensor_matrix_get_joined</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the number of robots which have joined the token ring.  <a href="#ga3545800eec0adba2fc63604206b8fb24"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#gaa22a0851d1886ca29fc32e0692502f2d">sensor_matrix_get_size</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the maximum size of the sensor matrix.  <a href="#gaa22a0851d1886ca29fc32e0692502f2d"></a><br/></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
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<p>the robot sensor matrix </p>
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<p>These functions and structures are used for localization to determine the relative directions of robots. </p>
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<hr/><h2>Function Documentation</h2>
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<a class="anchor" id="ga09523e52546e7929288795e1e5f0f9a8"></a><!-- doxytag: member="sensor_matrix.h::sensor_matrix_create" ref="ga09523e52546e7929288795e1e5f0f9a8" args="(void)" -->
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<p>Create a sensor matrix. </p>





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<p>Initializes the sensor matrix.</p>





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<dl class="return"><dt><b>Returns:</b></dt><dd>the newly created sensor matrix </dd></dl>





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<p>References <a class="el" href="sensor__matrix_8h_source.html#l00070">SensorMatrix::joined</a>, <a class="el" href="sensor__matrix_8h_source.html#l00078">SensorMatrix::matrix</a>, and <a class="el" href="sensor__matrix_8h_source.html#l00065">SensorMatrix::numJoined</a>.</p>





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<p>Referenced by <a class="el" href="wl__token__ring_8c_source.html#l00170">wl_token_ring_register()</a>.</p>





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          <td class="memname">int sensor_matrix_get_in_ring </td>





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<p>Get whether the robot is in the sensor ring. </p>





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<p>Checks if the given robot is in the token ring.</p>





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<dl><dt><b>Parameters:</b></dt><dd>





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  <table border="0" cellspacing="2" cellpadding="0">





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    <tr><td valign="top"></td><td valign="top"><em>robot</em>&nbsp;</td><td>the ID of the robot to check</td></tr>





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<dl class="return"><dt><b>Returns:</b></dt><dd>1 if the robot is in the token ring, 0 otherwise </dd></dl>





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<p>References <a class="el" href="sensor__matrix_8h_source.html#l00070">SensorMatrix::joined</a>.</p>





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<p>Referenced by <a class="el" href="wl__token__ring_8c_source.html#l00394">wl_token_is_robot_in_ring()</a>, <a class="el" href="wl__token__ring_8c_source.html#l00404">wl_token_iterator_begin()</a>, and <a class="el" href="wl__token__ring_8c_source.html#l00446">wl_token_iterator_next()</a>.</p>





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<a class="anchor" id="ga3545800eec0adba2fc63604206b8fb24"></a><!-- doxytag: member="sensor_matrix.h::sensor_matrix_get_joined" ref="ga3545800eec0adba2fc63604206b8fb24" args="(void)" -->





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<p>Get the number of robots which have joined the token ring. </p>





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<p>Returns the number of robots which have joined the token ring.</p>





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<dl class="return"><dt><b>Returns:</b></dt><dd>the number of robots in the token ring </dd></dl>





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<p>References <a class="el" href="sensor__matrix_8h_source.html#l00065">SensorMatrix::numJoined</a>.</p>





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<p>Referenced by <a class="el" href="wl__token__ring_8c_source.html#l00478">wl_token_get_num_robots()</a>, and <a class="el" href="wl__token__ring_8c_source.html#l00380">wl_token_get_robots_in_ring()</a>.</p>





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<a class="anchor" id="ga031d5a4d15603e57379aad22da36e300"></a><!-- doxytag: member="sensor_matrix.h::sensor_matrix_get_reading" ref="ga031d5a4d15603e57379aad22da36e300" args="(int observer, int robot)" -->





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          <td class="memname">int sensor_matrix_get_reading </td>





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<p>Get a reading in a sensor matrix. </p>





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<p>Gets the sensor reading for a robot to another robot.</p>





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<dl><dt><b>Parameters:</b></dt><dd>





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  <table border="0" cellspacing="2" cellpadding="0">





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    <tr><td valign="top"></td><td valign="top"><em>observer</em>&nbsp;</td><td>the robot whose reading we check </td></tr>





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    <tr><td valign="top"></td><td valign="top"><em>robot</em>&nbsp;</td><td>the robot who we are checking the reading to</td></tr>





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<dl class="return"><dt><b>Returns:</b></dt><dd>the observer's BOM reading for robot </dd></dl>





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<p>References <a class="el" href="sensor__matrix_8h_source.html#l00078">SensorMatrix::matrix</a>.</p>





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<p>Referenced by <a class="el" href="wl__token__ring_8c_source.html#l00347">wl_token_get_sensor_reading()</a>.</p>





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<a class="anchor" id="gaa22a0851d1886ca29fc32e0692502f2d"></a><!-- doxytag: member="sensor_matrix.h::sensor_matrix_get_size" ref="gaa22a0851d1886ca29fc32e0692502f2d" args="(void)" -->





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<p>Get the maximum size of the sensor matrix. </p>





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<p>Returns the maximum XBee id of a robot which can be stored in the sensor matrix.</p>





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<dl class="return"><dt><b>Returns:</b></dt><dd>the maximum number of robots which can be stored </dd></dl>





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<p>Referenced by <a class="el" href="wl__token__ring_8c_source.html#l00490">wl_token_get_matrix_size()</a>, <a class="el" href="wl__token__ring_8c_source.html#l00404">wl_token_iterator_begin()</a>, and <a class="el" href="wl__token__ring_8c_source.html#l00446">wl_token_iterator_next()</a>.</p>





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<a class="anchor" id="gaea879c1d5f8a8a079066d8df005f3549"></a><!-- doxytag: member="sensor_matrix.h::sensor_matrix_set_in_ring" ref="gaea879c1d5f8a8a079066d8df005f3549" args="(int robot, int in)" -->





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<p>Set whether the robot is in the token ring. </p>





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<p>Sets whether or not the given robot is part of the token ring.</p>





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<dl><dt><b>Parameters:</b></dt><dd>





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  <table border="0" cellspacing="2" cellpadding="0">





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    <tr><td valign="top"></td><td valign="top"><em>robot</em>&nbsp;</td><td>the robot to set as a member / nonmember of the token ring </td></tr>





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    <tr><td valign="top"></td><td valign="top"><em>in</em>&nbsp;</td><td>1 if the robot is in the token ring, 0 otherwise </td></tr>





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<p>References <a class="el" href="sensor__matrix_8h_source.html#l00070">SensorMatrix::joined</a>, and <a class="el" href="sensor__matrix_8h_source.html#l00065">SensorMatrix::numJoined</a>.</p>





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<p>Referenced by <a class="el" href="wl__token__ring_8c_source.html#l00170">wl_token_ring_register()</a>.</p>





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<p>Set a reading in a sensor matrix. </p>





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<p>Sets the sensor reading for robot robot to reading.</p>





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<dl><dt><b>Parameters:</b></dt><dd>





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  <table border="0" cellspacing="2" cellpadding="0">





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    <tr><td valign="top"></td><td valign="top"><em>observer</em>&nbsp;</td><td>the id of the robot who made the reading </td></tr>





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    <tr><td valign="top"></td><td valign="top"><em>robot</em>&nbsp;</td><td>the id of the robot who the reading is for </td></tr>





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    <tr><td valign="top"></td><td valign="top"><em>reading</em>&nbsp;</td><td>the BOM reading from observer to robot </td></tr>





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<p>References <a class="el" href="sensor__matrix_8h_source.html#l00078">SensorMatrix::matrix</a>.</p>





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<hr size="1"/><address style="text-align: right;"><small>Generated on Wed Sep 23 12:51:07 2009 for libwireless by&nbsp;





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