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cellulounity.h
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Created
Tue, May 14, 21:59
Size
1 KB
Mime Type
text/x-c
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Thu, May 16, 21:59 (1 d, 23 h)
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blob
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17677914
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R9807 cellulo-lua
cellulounity.h
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#ifndef CELLULOUNITY_H
#define CELLULOUNITY_H
#include <stdint.h>
typedef
void
(
*
callback_t
)();
extern
"C"
{
// cellulo
void
initialize
();
int64_t
newRobot
();
void
destroyRobot
(
int64_t
robot
);
void
setGoalVelocity
(
int64_t
robot
,
float
vx
,
float
vy
,
float
w
);
void
setGoalPose
(
int64_t
robot
,
float
x
,
float
y
,
float
theta
,
float
v
,
float
w
);
void
setGoalPosition
(
int64_t
robot
,
float
x
,
float
y
,
float
v
);
void
clearTracking
(
int64_t
robot
);
void
clearHapticFeedback
(
int64_t
robot
);
void
setVisualEffect
(
int64_t
robot
,
int64_t
effect
,
int64_t
r
,
int64_t
g
,
int64_t
b
,
int64_t
value
);
void
setCasualBackdriveAssistEnabled
(
int64_t
robot
,
int64_t
enabled
);
void
setHapticBackdriveAssist
(
int64_t
robot
,
float
xAssist
,
float
yAssist
,
float
thetaAssist
);
void
reset
(
int64_t
robot
);
void
simpleVibrate
(
int64_t
robot
,
float
iX
,
float
iY
,
float
iTheta
,
int64_t
period
,
int64_t
duration
);
float
getX
(
int64_t
robot
);
float
getY
(
int64_t
robot
);
float
getTheta
(
int64_t
robot
);
int64_t
getKidnapped
(
int64_t
robot
);
void
setKidnappedCallback
(
int64_t
robot
,
callback_t
callback
);
int64_t
robotsRemaining
();
int64_t
totalRobots
();
}
#endif
// CELLULOUNITY_H
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