PlayerCc::PlannerProxy Class Reference

The PlannerProxy proxy provides an interface to a 2D motion planner. More...

#include <playerc++.h>

Inheritance diagram for PlayerCc::PlannerProxy:
Collaboration diagram for PlayerCc::PlannerProxy:

List of all members.


Detailed Description

The PlannerProxy proxy provides an interface to a 2D motion planner.

Public Member Functions

 PlannerProxy (PlayerClient *aPc, uint32_t aIndex=0)
 Constructor.
 ~PlannerProxy ()
 Destructor.
void SetGoalPose (double aGx, double aGy, double aGa)
 Set the goal pose (gx, gy, ga)
void RequestWaypoints ()
 Get the list of waypoints.
void SetEnable (bool aEnable)
 Enable/disable the robot's motion.
uint32_t GetPathValid () const
 Did the planner find a valid path?
uint32_t GetPathDone () const
 Have we arrived at the goal?
double GetPx () const
 Current pose (m)
double GetPy () const
 Current pose (m)
double GetPa () const
 Current pose (radians)
player_pose2d_t GetPose () const
 Get the current pose.
double GetGx () const
 Goal location (m)
double GetGy () const
 Goal location (m)
double GetGa () const
 Goal location (radians)
player_pose2d_t GetGoal () const
 Get the goal.
double GetWx () const
 Current waypoint location (m)
double GetWy () const
 Current waypoint location (m)
double GetWa () const
 Current waypoint location (rad)
player_pose2d_t GetCurrentWaypoint () const
 Get the current waypoint.
double GetIx (int i) const
 Grab a particular waypoint location (m)
double GetIy (int i) const
 Grab a particular waypoint location (m)
double GetIa (int i) const
 Grab a particular waypoint location (rad)
player_pose2d_t GetWaypoint (uint32_t aIndex) const
 Get the waypoint.
int GetCurrentWaypointId () const
 Current waypoint index (handy if you already have the list of waypoints).
uint32_t GetWaypointCount () const
 Number of waypoints in the plan.
player_pose2d_t operator[] (uint32_t aIndex) const
 Waypoint access operator This operator provides an alternate way of access the waypoint data.

Private Member Functions

void Subscribe (uint32_t aIndex)
void Unsubscribe ()

Private Attributes

playerc_planner_tmDevice

Member Function Documentation

int PlayerCc::PlannerProxy::GetCurrentWaypointId ( ) const [inline]

Current waypoint index (handy if you already have the list of waypoints).

May be negative if there's no plan, or if the plan is done

double PlayerCc::PlannerProxy::GetGa ( ) const [inline]

Goal location (radians)

Deprecated:
use GetGoal() instead
double PlayerCc::PlannerProxy::GetGx ( ) const [inline]

Goal location (m)

Deprecated:
use GetGoal() instead
double PlayerCc::PlannerProxy::GetGy ( ) const [inline]

Goal location (m)

Deprecated:
use GetGoal() instead
double PlayerCc::PlannerProxy::GetIa ( int  i) const

Grab a particular waypoint location (rad)

Deprecated:
use GetWaypoint() instead
double PlayerCc::PlannerProxy::GetIx ( int  i) const

Grab a particular waypoint location (m)

Deprecated:
use GetWaypoint() instead
double PlayerCc::PlannerProxy::GetIy ( int  i) const

Grab a particular waypoint location (m)

Deprecated:
use GetWaypoint() instead
double PlayerCc::PlannerProxy::GetPa ( ) const [inline]

Current pose (radians)

Deprecated:
use GetPose() instead
double PlayerCc::PlannerProxy::GetPx ( ) const [inline]

Current pose (m)

Deprecated:
use GetPose() instead
double PlayerCc::PlannerProxy::GetPy ( ) const [inline]

Current pose (m)

Deprecated:
use GetPose() instead
double PlayerCc::PlannerProxy::GetWa ( ) const [inline]

Current waypoint location (rad)

Deprecated:
use GetCurWaypoint() instead
double PlayerCc::PlannerProxy::GetWx ( ) const [inline]

Current waypoint location (m)

Deprecated:
use GetCurWaypoint() instead
double PlayerCc::PlannerProxy::GetWy ( ) const [inline]

Current waypoint location (m)

Deprecated:
use GetCurWaypoint() instead
player_pose2d_t PlayerCc::PlannerProxy::operator[] ( uint32_t  aIndex) const [inline]

Waypoint access operator This operator provides an alternate way of access the waypoint data.

For example, given a PlannerProxy named pp, the following expressions are equivalent: pp.GetWaypoint(0) and pp[0].

void PlayerCc::PlannerProxy::RequestWaypoints ( )

Get the list of waypoints.

Writes the result into the proxy rather than returning it to the caller.

void PlayerCc::PlannerProxy::SetEnable ( bool  aEnable)

Enable/disable the robot's motion.

Set state to true to enable, false to disable.


The documentation for this class was generated from the following file: