Sensor Matrix

the robot sensor matrix More...

Data Structures
struct	SensorMatrix
struct	SensorMatrix
Functions
SensorMatrix *	sensor_matrix_create (void)
	Create a sensor matrix.
void	sensor_matrix_destroy (SensorMatrix *m)
	Destroy a sensor matrix.
void	sensor_matrix_add_robot (SensorMatrix *m, unsigned int id)
	Add a robot to a sensor matrix.
void	sensor_matrix_remove_robot (SensorMatrix *m, unsigned int id)
	Remove a robot from a sensor matrix.
void	sensor_matrix_set_reading (SensorMatrix *m, int observer, int robot, int reading)
	Set a reading in a sensor matrix.
int	sensor_matrix_get_reading (SensorMatrix *m, int observer, int robot)
	Get a reading in a sensor matrix.
void	sensor_matrix_set_in_ring (SensorMatrix *m, int robot, int in)
	Set whether the robot is in the token ring.
int	sensor_matrix_get_in_ring (SensorMatrix *m, int robot)
	Get whether the robot is in the sensor ring.
int	sensor_matrix_get_size (SensorMatrix *m)
	Get the size of the sensor matrix.
int	sensor_matrix_get_joined (SensorMatrix *m)
	Get the number of robots which have joined the token ring.

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Detailed Description

the robot sensor matrix

These functions and structures are used for localization to determine the relative directions of robots.

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Function Documentation

void sensor_matrix_add_robot (  SensorMatrix *  m, unsigned int  id )

Add a robot to a sensor matrix. Adds robot with XBee id id to the sensor matrix. Parameters: m  the sensor matrix id  the XBee ID of the robot to add

SensorMatrix* sensor_matrix_create (  void   )

Create a sensor matrix. Initializes the sensor matrix. Returns: the newly created sensor matrix

void sensor_matrix_destroy (  SensorMatrix *  m  )

Destroy a sensor matrix. Deletes and frees memory from the sensor matrix. Parameters: m  the sensor matrix to delete

int sensor_matrix_get_in_ring (  SensorMatrix *  m, int  robot )

Get whether the robot is in the sensor ring. Checks if the given robot is in the token ring. Parameters: m  the sensor matrix robot  the ID of the robot to check Returns: 1 if the robot is in the token ring, 0 otherwise

int sensor_matrix_get_joined (  SensorMatrix *  m  )

Get the number of robots which have joined the token ring. Returns the number of robots which have joined the token ring. Parameters: m  the sensor matrix Returns: the number of robots in the token ring

int sensor_matrix_get_reading (  SensorMatrix *  m, int  observer, int  robot )

Get a reading in a sensor matrix. Gets the sensor reading for a robot to another robot. Parameters: m  the sensor matrix observer  the robot whose reading we check robot  the robot who we are checking the reading to Returns: the observer's BOM reading for robot

int sensor_matrix_get_size (  SensorMatrix *  m  )

Get the size of the sensor matrix. Returns the size of the sensor matrix. Parameters: m  the sensor matrix Returns: the size of the sensor matrix

void sensor_matrix_remove_robot (  SensorMatrix *  m, unsigned int  id )

Remove a robot from a sensor matrix. Removes robot with id from the sensor matrix, and removes all sensor information regarding the robot. Parameters: m  the sensor matrix id  the XBee ID of the robot to remove

void sensor_matrix_set_in_ring (  SensorMatrix *  m, int  robot, int  in )

Set whether the robot is in the token ring. Sets whether or not the given robot is part of the token ring. Parameters: m  the sensor matrix robot  the robot to set as a member / nonmember of the token ring in  1 if the robot is in the token ring, 0 otherwise

void sensor_matrix_set_reading (  SensorMatrix *  m, int  observer, int  robot, int  reading )

Set a reading in a sensor matrix. Sets the sensor reading for robot robot to reading. Parameters: m  the sensor matrix to set the reading for observer  the id of the robot who made the reading robot  the id of the robot who the reading is for reading  the BOM reading from observer to robot

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