Omron Pioneer LX User Manual page 119

Table of Contents
Field Siz
e
Type e
XPOS int Estimated robot position coordinates (from 0,0 at robot
startup) in millimeters (DistConvFactor
YPOS int
THPOS int
Orientation (theta) in angular units of 2π/4096 radians
(AngleConvFactor
L VEL int Average velocity of left side of robot in millimeters per
second (used by ARIA to determine translational and
rotational velocity components)
R VEL int
Average velocity of right side of robot in millimeters per
second (used by ARIA to determine translational and
rotational velocity components)
BATTERY byt Not provided in SIP packet on Pioneer LX, But available via
ArRobot::getBatteryVoltage()
e
MTX battery. (See also BATTERYX10 and STATEOFCHARGE
fields below)
1
ARIA stores conversion factors in its robot parameter files for different types of robots in robot parameter files
and automatically applies the conversion when SIP is received
Page 119 of 134
Description
1
= 0.001534).
1
if ARIA connected to
ARIA Function(s)
ArRobot::getX(),
= 1.0). ArRobot::getPose() wit
h pose tranform
applied.
ArRobot::getRawEncod
erPose() without
transformation.
ArRobot::getY(),
ArRobot::getPose() wit
h pose tranform
applied.
ArRobot::getRawEncod
erPose() without
transformation.
ArRobot::getTh(),
ArRobot::getPose() wit
h pose tranform
applied.
ArRobot::getRawEncod
erPose() without
transformation.
ArRobot::getLeftVel()
ArRobot::getVel() for
robot translational
velocity (speed)
ArRobot::getRightVel()
ArRobot::getVel() for
robot traslational
velocity (spee)
ArRobot::getBatteryVol
tage()