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Position2DProxy Class Reference [Proxies] #include <playerclient.h> Inherits ClientProxy. List of all members. Detailed Description The Position2DProxy class is used to control a position2d device. The latest position data is contained in the attributes xpos, ypos, etc. Public Member Functions   Position2DProxy (PlayerClient *pc, unsigned short index, unsigned char access='c') int  SetSpeed (double xspeed, double yspeed, double yawspeed) int  SetSpeed (double speed, double turnrate) int  GoTo (double x, double y, double yaw) int  SetMotorState (unsigned char state) int  SelectVelocityControl (unsigned char mode) int  ResetOdometry () int  SelectPositionMode (unsigned char mode) int  SetOdometry (double x, double y, double yaw) int  SetSpeedPID (double kp, double ki, double kd)   Only supported by the reb_position driver. int  SetPositionPID (double kp, double ki, double kd)   Only supported by the reb_position driver. int  SetPositionSpeedProfile (double spd, double acc) int  DoStraightLine (double m)   Only supported by the reb_position driver. int  DoRotation (double yawspeed)   Only supported by the reb_position driver. int  DoDesiredHeading (double yaw, double xspeed, double yawspeed)   Only supported by the reb_position driver. int  SetStatus (uint8_t cmd, uint16_t value)   Only supported by the segwayrmp driver. int  PlatformShutdown ()   Only supported by the segwayrmp driver. double  Xpos () const   Accessor method. double  Ypos () const   Accessor method. double  Yaw () const   Accessor method. double  Speed () const   Accessor method. double  SideSpeed () const   Accessor method. double  TurnRate () const   Accessor method. double  XSpeed () const   Accessor method. double  YSpeed () const   Accessor method. double  YawSpeed () const   Accessor method. unsigned char  Stall () const   Accessor method. void  FillData (player_msghdr_t hdr, const char *buffer) void  Print ()   Print current position device state. Constructor & Destructor Documentation Position2DProxy::Position2DProxy (  PlayerClient *  pc, unsigned short  index, unsigned char  access = 'c' )  [inline]   Constructor. Leave the access field empty to start unconnected. Member Function Documentation int Position2DProxy::SetSpeed (  double  xspeed, double  yspeed, double  yawspeed )    Send a motor command for velocity control mode. Specify the forward, sideways, and angular speeds in m/sec, m/sec, and radians/sec, respectively. Returns: 0 if everything's ok, -1 otherwise. int Position2DProxy::SetSpeed (  double  speed, double  turnrate )  [inline]   Same as the previous SetSpeed(), but doesn't take the yspeed speed (so use this one for non-holonomic robots). int Position2DProxy::GoTo (  double  x, double  y, double  yaw )    Send a motor command for position control mode. Specify the desired pose of the robot in m, m, radians. Returns: 0 if everything's ok, -1 otherwise. int Position2DProxy::SetMotorState (  unsigned char  state  )    Enable/disable the motors. Set state to 0 to disable or 1 to enable. Be VERY careful with this method! Your robot is likely to run across the room with the charger still attached. Returns: 0 if everything's ok, -1 otherwise. int Position2DProxy::SelectVelocityControl (  unsigned char  mode  )    Select velocity control mode. For the the p2os_position driver, set mode to 0 for direct wheel velocity control (default), or 1 for separate translational and rotational control. For the reb_position driver: 0 is direct velocity control, 1 is for velocity-based heading PD controller (uses DoDesiredHeading()). Returns: 0 if everything's ok, -1 otherwise. int Position2DProxy::ResetOdometry (   )    Reset odometry to (0,0,0). Returns: 0 if everything's ok, -1 otherwise. int Position2DProxy::SelectPositionMode (  unsigned char  mode  )    Select position mode on the reb_position driver. Set mode for 0 for velocity mode, 1 for position mode. Returns: 0 if OK, -1 else int Position2DProxy::SetOdometry (  double  x, double  y, double  yaw )    Sets the odometry to the pose (x, y, yaw). Note that x and y are in m and yaw is in radians. Returns: 0 if OK, -1 else int Position2DProxy::SetSpeedPID (  double  kp, double  ki, double  kd )    Only supported by the reb_position driver. int Position2DProxy::SetPositionPID (  double  kp, double  ki, double  kd )    Only supported by the reb_position driver. int Position2DProxy::SetPositionSpeedProfile (  double  spd, double  acc )    Only supported by the reb_position driver. spd rad/s, acc rad/s/s int Position2DProxy::DoStraightLine (  double  m  )    Only supported by the reb_position driver. int Position2DProxy::DoRotation (  double  yawspeed  )    Only supported by the reb_position driver. int Position2DProxy::DoDesiredHeading (  double  yaw, double  xspeed, double  yawspeed )    Only supported by the reb_position driver. int Position2DProxy::SetStatus (  uint8_t  cmd, uint16_t  value )    Only supported by the segwayrmp driver. int Position2DProxy::PlatformShutdown (   )    Only supported by the segwayrmp driver. double Position2DProxy::Xpos (   )  const [inline]   Accessor method. double Position2DProxy::Ypos (   )  const [inline]   Accessor method. double Position2DProxy::Yaw (   )  const [inline]   Accessor method. double Position2DProxy::Speed (   )  const [inline]   Accessor method. double Position2DProxy::SideSpeed (   )  const [inline]   Accessor method. double Position2DProxy::TurnRate (   )  const [inline]   Accessor method. double Position2DProxy::XSpeed (   )  const [inline]   Accessor method. double Position2DProxy::YSpeed (   )  const [inline]   Accessor method. double Position2DProxy::YawSpeed (   )  const [inline]   Accessor method. unsigned char Position2DProxy::Stall (   )  const [inline]   Accessor method. void Position2DProxy::FillData (  player_msghdr_t  hdr, const char *  buffer )  [virtual]   All proxies must provide this method. It is used internally to parse new data when it is received. Reimplemented from ClientProxy. void Position2DProxy::Print (   )  [virtual]   Print current position device state. Reimplemented from ClientProxy. The documentation for this class was generated from the following file: playerclient.h