planner

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


Detailed Description

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

Classes

struct  playerc_planner_t
 Planner device data. More...

Functions

PLAYERC_EXPORT playerc_planner_tplayerc_planner_create (playerc_client_t *client, int index)
 Create a planner device proxy.
PLAYERC_EXPORT void playerc_planner_destroy (playerc_planner_t *device)
 Destroy a planner device proxy.
PLAYERC_EXPORT int playerc_planner_subscribe (playerc_planner_t *device, int access)
 Subscribe to the planner device.
PLAYERC_EXPORT int playerc_planner_unsubscribe (playerc_planner_t *device)
 Un-subscribe from the planner device.
PLAYERC_EXPORT int playerc_planner_set_cmd_pose (playerc_planner_t *device, double gx, double gy, double ga)
 Set the goal pose (gx, gy, ga)
PLAYERC_EXPORT int playerc_planner_get_waypoints (playerc_planner_t *device)
 Get the list of waypoints.
PLAYERC_EXPORT int playerc_planner_enable (playerc_planner_t *device, int state)
 Enable / disable the robot's motion.

Function Documentation

PLAYERC_EXPORT playerc_planner_t* playerc_planner_create ( playerc_client_t client,
int  index 
)

Create a planner device proxy.

PLAYERC_EXPORT void playerc_planner_destroy ( playerc_planner_t device)

Destroy a planner device proxy.

PLAYERC_EXPORT int playerc_planner_enable ( playerc_planner_t device,
int  state 
)

Enable / disable the robot's motion.

Set state to 1 to enable, 0 to disable.

PLAYERC_EXPORT int playerc_planner_get_waypoints ( playerc_planner_t device)

Get the list of waypoints.

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