Doly edge/gap detection SDK (C++) (IR sensors). More...

Files
file	EdgeControl.h
	Public API for Doly edge/gap detection control (IR sensors).
file	EdgeEvent.h
	Event registration functions for EdgeControl.
file	EdgeEventListener.h
	Public API types and listener interface for EdgeControl.

Classes
struct	IrSensor
	Simple POD representing the state of an individual IR sensor. More...
class	EdgeEventListener
	Interface for receiving edge and gap detection events from edge controller. More...

Enumerations
enum class	GapDirection : uint8_t { GapDirection::FRONT , GapDirection::FRONT_LEFT , GapDirection::FRONT_RIGHT , GapDirection::BACK , GapDirection::BACK_LEFT , GapDirection::BACK_RIGHT , GapDirection::LEFT , GapDirection::RIGHT , GapDirection::CROSS_LEFT , GapDirection::CROSS_RIGHT , GapDirection::ALL }
	Direction of a detected gap or edge relative to the robot. More...
enum class	SensorId : uint8_t { SensorId::BACK_LEFT , SensorId::BACK_RIGHT , SensorId::FRONT_LEFT , SensorId::FRONT_RIGHT }
	Identifiers for the IR sensors. More...

Detailed Description

Doly edge/gap detection SDK (C++) (IR sensors).

Edge sensor/control module.

EdgeControl is exposed as a singleton-style API (namespace functions). Events are delivered asynchronously through EdgeEvent / EdgeEventListener.

Enumeration Type Documentation

enum class GapDirection : uint8_t

strong

Direction of a detected gap or edge relative to the robot.

These values indicate where a gap (e.g. missing floor) was detected by the IR sensors.

Enumerator
FRONT	Gap detected at the front.
FRONT_LEFT	Gap detected at the front-left.
FRONT_RIGHT	Gap detected at the front-right.
BACK	Gap detected at the rear.
BACK_LEFT	Gap detected at the rear-left.
BACK_RIGHT	Gap detected at the rear-right.
LEFT	Gap detected on the left side.
RIGHT	Gap detected on the right side.
CROSS_LEFT	Cross pattern: front-left, back-right.
CROSS_RIGHT	Cross pattern: front-right, back-left.
ALL	All sensors detect a gap.

enum class SensorId : uint8_t

strong

Identifiers for the IR sensors.