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<h1>Sensor Matrix</h1>the robot sensor matrix  
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<a href="#_details">More...</a><table border="0" cellpadding="0" cellspacing="0">
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<tr><td></td></tr>
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<tr><td colspan="2"><br><h2>Data Structures</h2></td></tr>
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<tr><td class="memItemLeft" nowrap 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 class="memItemLeft" nowrap 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"><br><h2>Functions</h2></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="structSensorMatrix.html">SensorMatrix</a> *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#gdac971de8e0df3ed469c1e00b5d68ec3">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="#gdac971de8e0df3ed469c1e00b5d68ec3"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#g6125c1926243c789c9a22c7b7ca915f7">sensor_matrix_destroy</a> (<a class="el" href="structSensorMatrix.html">SensorMatrix</a> *m)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Destroy a sensor matrix.  <a href="#g6125c1926243c789c9a22c7b7ca915f7"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#g4a8cea8d7401802b8ef4f24768671cdb">sensor_matrix_add_robot</a> (<a class="el" href="structSensorMatrix.html">SensorMatrix</a> *m, unsigned int id)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Add a robot to a sensor matrix.  <a href="#g4a8cea8d7401802b8ef4f24768671cdb"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#g616455f4c0801504984cc7f7cf49d980">sensor_matrix_remove_robot</a> (<a class="el" href="structSensorMatrix.html">SensorMatrix</a> *m, unsigned int id)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Remove a robot from a sensor matrix.  <a href="#g616455f4c0801504984cc7f7cf49d980"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#g06977570b0c7b9628caeb5de012bbf22">sensor_matrix_set_reading</a> (<a class="el" href="structSensorMatrix.html">SensorMatrix</a> *m, 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="#g06977570b0c7b9628caeb5de012bbf22"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#gf8f7401b00608998b4cca34e3e5690b6">sensor_matrix_get_reading</a> (<a class="el" href="structSensorMatrix.html">SensorMatrix</a> *m, 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="#gf8f7401b00608998b4cca34e3e5690b6"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#ga2039902278b82d75157f5ce30ba24a3">sensor_matrix_set_in_ring</a> (<a class="el" href="structSensorMatrix.html">SensorMatrix</a> *m, 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="#ga2039902278b82d75157f5ce30ba24a3"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#g44d31428ed9c7a0c98e2ecfc74a55469">sensor_matrix_get_in_ring</a> (<a class="el" href="structSensorMatrix.html">SensorMatrix</a> *m, 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="#g44d31428ed9c7a0c98e2ecfc74a55469"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#g1d799b72ee6274e5064e12e8dd17d493">sensor_matrix_get_size</a> (<a class="el" href="structSensorMatrix.html">SensorMatrix</a> *m)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the size of the sensor matrix.  <a href="#g1d799b72ee6274e5064e12e8dd17d493"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__sensormatrix.html#g48353450a17126cffa44bd894f087621">sensor_matrix_get_joined</a> (<a class="el" href="structSensorMatrix.html">SensorMatrix</a> *m)</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="#g48353450a17126cffa44bd894f087621"></a><br></td></tr>
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<hr><a name="_details"></a><h2>Detailed Description</h2>
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the robot sensor matrix 
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<p>
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These functions and structures are used for localization to determine the relative directions of robots. <hr><h2>Function Documentation</h2>
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<a class="anchor" name="g4a8cea8d7401802b8ef4f24768671cdb"></a><!-- doxytag: member="sensor_matrix.h::sensor_matrix_add_robot" ref="g4a8cea8d7401802b8ef4f24768671cdb" args="(SensorMatrix *m, unsigned int id)" --><p>
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          <td class="md" nowrap valign="top">void sensor_matrix_add_robot           </td>
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          <td class="md" valign="top">(&nbsp;</td>
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          <td class="md" nowrap valign="top"><a class="el" href="structSensorMatrix.html">SensorMatrix</a> *&nbsp;</td>
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          <td class="mdname" nowrap> <em>m</em>, </td>
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          <td class="md" nowrap>unsigned int&nbsp;</td>
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          <td class="mdname" nowrap> <em>id</em></td>
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          <td class="md">)&nbsp;</td>
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<p>
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Add a robot to a sensor matrix. 
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<p>
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Adds robot with XBee id id to the sensor matrix.<p>
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<dl compact><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>m</em>&nbsp;</td><td>the sensor matrix </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>id</em>&nbsp;</td><td>the XBee ID of the robot to add </td></tr>
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<a class="anchor" name="gdac971de8e0df3ed469c1e00b5d68ec3"></a><!-- doxytag: member="sensor_matrix.h::sensor_matrix_create" ref="gdac971de8e0df3ed469c1e00b5d68ec3" args="(void)" --><p>
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          <td class="md" nowrap valign="top"><a class="el" href="structSensorMatrix.html">SensorMatrix</a>* sensor_matrix_create           </td>
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          <td class="md" valign="top">(&nbsp;</td>
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          <td class="md" nowrap valign="top">void&nbsp;</td>
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          <td class="mdname1" valign="top" nowrap>          </td>
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<p>
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Create a sensor matrix. 
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<p>
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Initializes the sensor matrix.<p>
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<dl compact><dt><b>Returns:</b></dt><dd>the newly created sensor matrix </dd></dl>
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<a class="anchor" name="g6125c1926243c789c9a22c7b7ca915f7"></a><!-- doxytag: member="sensor_matrix.h::sensor_matrix_destroy" ref="g6125c1926243c789c9a22c7b7ca915f7" args="(SensorMatrix *m)" --><p>
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          <td class="md" nowrap valign="top">void sensor_matrix_destroy           </td>
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          <td class="md" valign="top">(&nbsp;</td>
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          <td class="md" nowrap valign="top"><a class="el" href="structSensorMatrix.html">SensorMatrix</a> *&nbsp;</td>
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          <td class="mdname1" valign="top" nowrap> <em>m</em>          </td>
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          <td class="md" valign="top">&nbsp;)&nbsp;</td>
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Destroy a sensor matrix. 
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Deletes and frees memory from the sensor matrix.<p>
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<dl compact><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>m</em>&nbsp;</td><td>the sensor matrix to delete </td></tr>
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<a class="anchor" name="g44d31428ed9c7a0c98e2ecfc74a55469"></a><!-- doxytag: member="sensor_matrix.h::sensor_matrix_get_in_ring" ref="g44d31428ed9c7a0c98e2ecfc74a55469" args="(SensorMatrix *m, int robot)" --><p>
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          <td class="md" nowrap valign="top">int sensor_matrix_get_in_ring           </td>
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          <td class="md" valign="top">(&nbsp;</td>
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          <td class="md" nowrap valign="top"><a class="el" href="structSensorMatrix.html">SensorMatrix</a> *&nbsp;</td>
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          <td class="mdname" nowrap> <em>m</em>, </td>
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          <td class="md" nowrap>int&nbsp;</td>
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          <td class="mdname" nowrap> <em>robot</em></td>
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          <td class="md">)&nbsp;</td>
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Get whether the robot is in the sensor ring. 
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Checks if the given robot is in the token ring.<p>
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<dl compact><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>m</em>&nbsp;</td><td>the sensor matrix </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 to check</td></tr>
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<dl compact><dt><b>Returns:</b></dt><dd>1 if the robot is in the token ring, 0 otherwise </dd></dl>
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<a class="anchor" name="g48353450a17126cffa44bd894f087621"></a><!-- doxytag: member="sensor_matrix.h::sensor_matrix_get_joined" ref="g48353450a17126cffa44bd894f087621" args="(SensorMatrix *m)" --><p>
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          <td class="md" nowrap valign="top">int sensor_matrix_get_joined           </td>
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          <td class="md" valign="top">(&nbsp;</td>
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          <td class="md" nowrap valign="top"><a class="el" href="structSensorMatrix.html">SensorMatrix</a> *&nbsp;</td>
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          <td class="mdname1" valign="top" nowrap> <em>m</em>          </td>
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<p>
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Get the number of robots which have joined the token ring. 
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<p>
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Returns the number of robots which have joined the token ring.<p>
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<dl compact><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>m</em>&nbsp;</td><td>the sensor matrix</td></tr>
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<dl compact><dt><b>Returns:</b></dt><dd>the number of robots in the token ring </dd></dl>
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<a class="anchor" name="gf8f7401b00608998b4cca34e3e5690b6"></a><!-- doxytag: member="sensor_matrix.h::sensor_matrix_get_reading" ref="gf8f7401b00608998b4cca34e3e5690b6" args="(SensorMatrix *m, int observer, int robot)" --><p>
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          <td class="md" nowrap valign="top">int sensor_matrix_get_reading           </td>
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          <td class="md" valign="top">(&nbsp;</td>
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          <td class="md" nowrap valign="top"><a class="el" href="structSensorMatrix.html">SensorMatrix</a> *&nbsp;</td>
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          <td class="mdname" nowrap> <em>m</em>, </td>
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          <td class="md" nowrap>int&nbsp;</td>
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          <td class="mdname" nowrap> <em>observer</em>, </td>
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          <td class="md" nowrap>int&nbsp;</td>
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          <td class="mdname" nowrap> <em>robot</em></td>
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          <td class="md">)&nbsp;</td>
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Get a reading in a sensor matrix. 
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Gets the sensor reading for a robot to another robot.<p>
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<dl compact><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>m</em>&nbsp;</td><td>the sensor matrix </td></tr>
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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 compact><dt><b>Returns:</b></dt><dd>the observer's BOM reading for robot </dd></dl>
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<a class="anchor" name="g1d799b72ee6274e5064e12e8dd17d493"></a><!-- doxytag: member="sensor_matrix.h::sensor_matrix_get_size" ref="g1d799b72ee6274e5064e12e8dd17d493" args="(SensorMatrix *m)" --><p>
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          <td class="md" nowrap valign="top">int sensor_matrix_get_size           </td>
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          <td class="md" valign="top">(&nbsp;</td>
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          <td class="md" nowrap valign="top"><a class="el" href="structSensorMatrix.html">SensorMatrix</a> *&nbsp;</td>
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          <td class="mdname1" valign="top" nowrap> <em>m</em>          </td>
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Get the size of the sensor matrix. 
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Returns the size of the sensor matrix.<p>
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<dl compact><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>m</em>&nbsp;</td><td>the sensor matrix</td></tr>
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<dl compact><dt><b>Returns:</b></dt><dd>the size of the sensor matrix </dd></dl>
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<a class="anchor" name="g616455f4c0801504984cc7f7cf49d980"></a><!-- doxytag: member="sensor_matrix.h::sensor_matrix_remove_robot" ref="g616455f4c0801504984cc7f7cf49d980" args="(SensorMatrix *m, unsigned int id)" --><p>
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          <td class="md" nowrap valign="top">void sensor_matrix_remove_robot           </td>
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          <td class="md" valign="top">(&nbsp;</td>
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          <td class="md" nowrap valign="top"><a class="el" href="structSensorMatrix.html">SensorMatrix</a> *&nbsp;</td>
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          <td class="md" nowrap>unsigned int&nbsp;</td>
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          <td class="mdname" nowrap> <em>id</em></td>
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          <td class="md">)&nbsp;</td>
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          <td class="md" colspan="2"></td>
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        </tr>
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      </table>
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    </td>
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  </tr>
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</table>
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<table cellspacing="5" cellpadding="0" border="0">
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  <tr>
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    <td>
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      &nbsp;
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    </td>
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    <td>
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<p>
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Remove a robot from a sensor matrix. 
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<p>
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Removes robot with id from the sensor matrix, and removes all sensor information regarding the robot.<p>
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<dl compact><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>m</em>&nbsp;</td><td>the sensor matrix </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>id</em>&nbsp;</td><td>the XBee ID of the robot to remove </td></tr>
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  </table>
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</dl>
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    </td>
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  </tr>
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</table>
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<a class="anchor" name="ga2039902278b82d75157f5ce30ba24a3"></a><!-- doxytag: member="sensor_matrix.h::sensor_matrix_set_in_ring" ref="ga2039902278b82d75157f5ce30ba24a3" args="(SensorMatrix *m, int robot, int in)" --><p>
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<table class="mdTable" cellpadding="2" cellspacing="0">
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  <tr>
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    <td class="mdRow">
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      <table cellpadding="0" cellspacing="0" border="0">
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        <tr>
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          <td class="md" nowrap valign="top">void sensor_matrix_set_in_ring           </td>
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          <td class="md" valign="top">(&nbsp;</td>
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          <td class="md" nowrap valign="top"><a class="el" href="structSensorMatrix.html">SensorMatrix</a> *&nbsp;</td>
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          <td class="mdname" nowrap> <em>m</em>, </td>
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        </tr>
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        <tr>
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          <td class="md" nowrap align="right"></td>
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          <td class="md"></td>
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          <td class="md" nowrap>int&nbsp;</td>
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          <td class="mdname" nowrap> <em>robot</em>, </td>
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        </tr>
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        <tr>
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          <td class="md" nowrap align="right"></td>
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          <td class="md"></td>
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          <td class="md" nowrap>int&nbsp;</td>
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          <td class="mdname" nowrap> <em>in</em></td>
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        </tr>
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        <tr>
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          <td class="md"></td>
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          <td class="md">)&nbsp;</td>
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          <td class="md" colspan="2"></td>
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        </tr>
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      </table>
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    </td>
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  </tr>
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</table>
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<table cellspacing="5" cellpadding="0" border="0">
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  <tr>
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    <td>
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      &nbsp;
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    </td>
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    <td>
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<p>
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Set whether the robot is in the token ring. 
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<p>
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Sets whether or not the given robot is part of the token ring.<p>
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<dl compact><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>m</em>&nbsp;</td><td>the sensor matrix </td></tr>
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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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  </table>
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</dl>
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    </td>
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  </tr>
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</table>
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<a class="anchor" name="g06977570b0c7b9628caeb5de012bbf22"></a><!-- doxytag: member="sensor_matrix.h::sensor_matrix_set_reading" ref="g06977570b0c7b9628caeb5de012bbf22" args="(SensorMatrix *m, int observer, int robot, int reading)" --><p>
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<table class="mdTable" cellpadding="2" cellspacing="0">
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  <tr>
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    <td class="mdRow">
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      <table cellpadding="0" cellspacing="0" border="0">
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        <tr>
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          <td class="md" nowrap valign="top">void sensor_matrix_set_reading           </td>
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          <td class="md" valign="top">(&nbsp;</td>
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          <td class="md" nowrap valign="top"><a class="el" href="structSensorMatrix.html">SensorMatrix</a> *&nbsp;</td>
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          <td class="mdname" nowrap> <em>m</em>, </td>
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        </tr>
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        <tr>
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          <td class="md" nowrap align="right"></td>
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          <td class="md"></td>
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          <td class="md" nowrap>int&nbsp;</td>
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          <td class="mdname" nowrap> <em>observer</em>, </td>
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        </tr>
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        <tr>
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          <td class="md" nowrap align="right"></td>
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          <td class="md"></td>
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          <td class="md" nowrap>int&nbsp;</td>
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          <td class="mdname" nowrap> <em>robot</em>, </td>
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        </tr>
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        <tr>
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          <td class="md" nowrap align="right"></td>
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          <td class="md"></td>
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          <td class="md" nowrap>int&nbsp;</td>
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          <td class="mdname" nowrap> <em>reading</em></td>
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        </tr>
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        <tr>
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          <td class="md"></td>
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          <td class="md">)&nbsp;</td>
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          <td class="md" colspan="2"></td>
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        </tr>
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      </table>
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    </td>
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  </tr>
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</table>
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<table cellspacing="5" cellpadding="0" border="0">
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  <tr>
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    <td>
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      &nbsp;
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    </td>
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    <td>
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<p>
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Set a reading in a sensor matrix. 
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<p>
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Sets the sensor reading for robot robot to reading.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd>
497
  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>m</em>&nbsp;</td><td>the sensor matrix to set the reading for </td></tr>
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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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  </table>
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</dl>
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    </td>
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  </tr>
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</table>
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<hr size="1"><address style="align: right;"><small>Generated on Wed Oct 31 17:54:43 2007 for libwireless by&nbsp;
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<a href="http://www.doxygen.org/index.html">
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.4.6 </small></address>
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