/usr/include/enki/robots/thymio2/Thymio2.h is in libenki-dev 1:1.6.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 | /*
Enki - a fast 2D robot simulator
Copyright (C) 1999-2006 Stephane Magnenat <stephane at magnenat dot net>
Copyright (C) 2004-2005 Markus Waibel <markus dot waibel at epfl dot ch>
Copyright (c) 2004-2005 Antoine Beyeler <abeyeler at ab-ware dot com>
Copyright (C) 2005-2006 Laboratory of Intelligent Systems, EPFL, Lausanne
Copyright (C) 2006 Laboratory of Robotics Systems, EPFL, Lausanne
See AUTHORS for details
This program is free software; the authors of any publication
arising from research using this software are asked to add the
following reference:
Enki - a fast 2D robot simulator
http://lis.epfl.ch/enki
Stephane Magnenat <stephane at magnenat dot net>,
Markus Waibel <markus dot waibel at epfl dot ch>
Laboratory of Intelligent Systems, EPFL, Lausanne.
You can redistribute this program and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef __ENKI_THYMIO2_H
#define __ENKI_THYMIO2_H
#include <enki/robots/DifferentialWheeled.h>
#include <enki/interactions/IRSensor.h>
#include <enki/interactions/GroundSensor.h>
/*! \file Thymio2.h
\brief Header of the Thymio robot
*/
namespace Enki
{
//! A simple model of the Thymio robot.
/*! \ingroup robot */
class Thymio2 : public DifferentialWheeled
{
public:
//! The infrared sensor 0 (front-left-left)
IRSensor infraredSensor0;
//! The infrared sensor 1 (front-left)
IRSensor infraredSensor1;
//! The infrared sensor 2 (front-front)
IRSensor infraredSensor2;
//! The infrared sensor 3 (front-right)
IRSensor infraredSensor3;
//! The infrared sensor 4 (front-right-right)
IRSensor infraredSensor4;
//! The infrared sensor 5 (back-left)
IRSensor infraredSensor5;
//! The infrared sensor 6 (back-right)
IRSensor infraredSensor6;
//! The ground sensor 0 (left)
GroundSensor groundSensor0;
//! The ground sensor 1 (right)
GroundSensor groundSensor1;
unsigned int textureID;
unsigned int* ledTexture;
bool ledTextureNeedUpdate;
enum LedIndex
{
TOP = 0,
BOTTOM_LEFT, BOTTOM_RIGHT,
BUTTON_UP, BUTTON_DOWN, BUTTON_LEFT, BUTTON_RIGHT,
RING_0, RING_1, RING_2, RING_3,
RING_4, RING_5, RING_6, RING_7,
IR_FRONT_0, IR_FRONT_1, IR_FRONT_2,
IR_FRONT_3, IR_FRONT_4, IR_FRONT_5,
IR_BACK_0, IR_BACK_1,
LEFT_RED, LEFT_BLUE, RIGHT_BLUE, RIGHT_RED,
LED_COUNT
};
public:
//! Create a Thymio II
Thymio2();
//! Destructor
~Thymio2();
void setLedIntensity(LedIndex ledIndex, double intensity = 1.f);
void setLedColor(LedIndex ledIndex, const Color& color = Color(1.,1.,1.,1.));
Color getColorLed(LedIndex ledIndex) const;
protected:
Color ledColor[LED_COUNT];
};
}
#endif
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