"Applicazione di un laser range scanner a un robot mobile", 2010

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printf("\n\tComparing stallval=%s to bumpmask=%s... ", int_as_bitstring(stallval).c_str(), int_as_bitstring(bumpmask).c_str()); } if(cumulativeStallVal & bumpmask) printf("%d ", bump); bumpmask = bumpmask >> 1; bump++; // print pose of last bump sensor reading const std::list* bumpsensed = bumpers.getCurrentBuffer(); if(bumpsensed) { //printf("%d readings. ", bumpsensed->size()); } puts(""); // clear events to accumulate for the next second wasEStopTriggered = false; if(bumpsensed->size() > 0 && bumpsensed->front()) { } printf("(%.0f,%.0f)", bumpsensed->front()->getX(), bumpsensed->front()->getY()); cumulativeRobotFlags = cumulativeStallVal = 0; wasLeftMotorStalled = wasRightMotorStalled = wasLeftIRTriggered = wasRightIRTriggered = tobor.unlock(); ArUtil::sleep(1000); 64
} // robot cycle stopped, probably because of lost robot connection } tobor.lock(); pinza.liftDown(); //Apre la pinza tobor.unlock(); Aria::shutdown(); return 0; 65
Page 1 and 2:
Studente: UNIVERSITÀ DEGLI STUDI D
Page 3 and 4:
L’implementazione con le CGI ....
Page 5 and 6:
Capitolo 1 Installazione del calcol
Page 7 and 8:
fisicamente una porta usb. Si è po
Page 9 and 10:
Le classi fondamentali di Aria Aria
Page 11 and 12:
ciclo possa andarle a modificare ne
Page 13 and 14: Aria è scritto in modo tale da acc
Page 15 and 16: Figura 6: Rappresentazione schemati
Page 17 and 18: “ArGripper” (“pinza”) che v
Page 19 and 20: Il file bash per avviare il program
Page 21 and 22: Capitolo 2 Il passo successivo: ARN
Page 23 and 24: col mouse il robot all’interno de
Page 25 and 26: In Figura 9 è possibile osservare
Page 27 and 28: ;SettableAccsDecs false ; if the ac
Page 29 and 30: Figura 11: Una fotografia della sta
Page 31 and 32: La scelta del materiale isolante pe
Page 33 and 34: Nel riquadro rosso sono presenti se
Page 35 and 36: stazione di ricarica. Questo è sta
Page 37 and 38: packet.doubleToBuf(0); client.reque
Page 39 and 40: La pagina di stato A fianco della p
Page 41 and 42: Figura 19: Tobor nelle vicinanze de
Page 43 and 44: } tmp[16] = 0; tmp[ch] = ((n>>bit)&
Page 45 and 46: connector ArSimpleConnector connect
Page 47 and 48: pinza.liftDown(); //Apre la pinza t
Page 49 and 50: ); (wasEStopTriggered ? "YES" : " "
Page 51 and 52: { if(bit == 9) // this is also a mo
Page 53 and 54: Appendice 2 Il programma “Caramel
Page 55 and 56: } /* main function */ int main(int
Page 57 and 58: { ArLog::log(ArLog::Terse, "Could n
Page 59 and 60: Print data header #define HEADFORMA
Page 61 and 62: cont = 0; } cont++;*/ tobor.comStrN
Page 63: } tobor.comStrN(ArCommands::SAY,tun
Page 67 and 68: RequestIOPackets false ; automatica
Page 69 and 70: SettableAccsDecs false ; if the acc
Page 71 and 72: HasMoveCommand false ; has built in
Page 73 and 74: ;SectionFlags for Movement control
Page 75 and 76: usr/local/Arnl/examples/goalClient0
Page 77 and 78: usr/local/Arnl/examples/arnlServer2
Page 79 and 80: void handleRobotUpdate(ArNetPacket*
Page 81 and 82: } exit(1); printf("Connected to ser
Page 83 and 84: home/user/programmi_robot/rientroTo
Page 85 and 86: Appendice 8 La CGI “stop.cgi” #
Page 87 and 88: fi echo -e "" grep status /home/use
Page 89: Bibliografia/sitografia http://www
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