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Position3DProxy Class Reference [Proxies] #include <playerclient.h> Inherits ClientProxy. List of all members. Detailed Description The Position3DProxy class is used to control a player_interface_position3d device. The latest position data is contained in the attributes xpos, ypos, etc. Public Member Functions   Position3DProxy (PlayerClient *pc, unsigned short index, unsigned char access='c') int  SetSpeed (double xspeed, double yspeed, double zspeed, double rollspeed, double pitchspeed, double yawspeed) int  SetSpeed (double xspeed, double yspeed, double zspeed, double yawspeed) int  SetSpeed (double xspeed, double yspeed, double yawspeed) int  SetSpeed (double xspeed, double yawspeed) int  GoTo (double x, double y, double z, double roll, double pitch, double yaw) int  SetMotorState (unsigned char state) int  SelectVelocityControl (unsigned char mode) int  ResetOdometry () int  SetOdometry (double x, double y, double z, double roll, double pitch, double yaw) int  SelectPositionMode (unsigned char mode) 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) void  FillData (player_msghdr_t hdr, const char *buffer) void  Print ()   Print current position device state. double  Xpos () const   Accessor method. double  Ypos () const   Accessor method. double  Zpos () const   Accessor method. double  Roll () const   Accessor method. double  Pitch () const   Accessor method. double  Yaw () const   Accessor method. double  XSpeed () const   Accessor method. double  YSpeed () const   Accessor method. double  ZSpeed () const   Accessor method. double  RollSpeed () const   Accessor method. double  PitchSpeed () const   Accessor method. double  YawSpeed () const   Accessor method. unsigned char  Stall () const   Accessor method. Constructor & Destructor Documentation Position3DProxy::Position3DProxy (  PlayerClient *  pc, unsigned short  index, unsigned char  access = 'c' )  [inline]   Constructor. Leave the access field empty to start unconnected. Member Function Documentation int Position3DProxy::SetSpeed (  double  xspeed, double  yspeed, double  zspeed, double  rollspeed, double  pitchspeed, double  yawspeed )    Send a motor command for a planar robot. Specify the forward, sideways, and angular speeds in m/s, m/s, m/s, rad/s, rad/s, and rad/s, respectively. Returns: 0 if everything's ok, -1 otherwise. int Position3DProxy::SetSpeed (  double  xspeed, double  yspeed, double  zspeed, double  yawspeed )  [inline]   Send a motor command for a planar robot. Specify the forward, sideways, and angular speeds in m/s, m/s, and rad/s, respectively. Returns: 0 if everything's ok, -1 otherwise. int Position3DProxy::SetSpeed (  double  xspeed, double  yspeed, double  yawspeed )  [inline] int Position3DProxy::SetSpeed (  double  xspeed, double  yawspeed )  [inline]   Same as the previous SetSpeed(), but doesn't take the sideways speed (so use this one for non-holonomic robots). int Position3DProxy::GoTo (  double  x, double  y, double  z, double  roll, double  pitch, double  yaw )    Send a motor command for position control mode. Specify the desired pose of the robot in m, m, m, rad, rad, rad. Returns: 0 if everything's ok, -1 otherwise. int Position3DProxy::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 Position3DProxy::SelectVelocityControl (  unsigned char  mode  )    Select velocity control mode. This is driver dependent. Returns: 0 if everything's ok, -1 otherwise. int Position3DProxy::ResetOdometry (   )    Reset odometry to (0,0,0). Returns: 0 if everything's ok, -1 otherwise. int Position3DProxy::SetOdometry (  double  x, double  y, double  z, double  roll, double  pitch, double  yaw )    Sets the odometry to the pose (x, y, z, roll, pitch, yaw). Note that x, y, and z are in m and roll, pitch, and yaw are in radians. Returns: 0 if OK, -1 else int Position3DProxy::SelectPositionMode (  unsigned char  mode  )    Select position mode Set mode for 0 for velocity mode, 1 for position mode. Returns: 0 if OK, -1 else int Position3DProxy::SetSpeedPID (  double  kp, double  ki, double  kd )    Only supported by the reb_position driver. int Position3DProxy::SetPositionPID (  double  kp, double  ki, double  kd )    Only supported by the reb_position driver. int Position3DProxy::SetPositionSpeedProfile (  double  spd, double  acc )    Sets the ramp profile for position based control spd rad/s, acc rad/s/s void Position3DProxy::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 Position3DProxy::Print (   )  [virtual]   Print current position device state. Reimplemented from ClientProxy. double Position3DProxy::Xpos (   )  const [inline]   Accessor method. double Position3DProxy::Ypos (   )  const [inline]   Accessor method. double Position3DProxy::Zpos (   )  const [inline]   Accessor method. double Position3DProxy::Roll (   )  const [inline]   Accessor method. double Position3DProxy::Pitch (   )  const [inline]   Accessor method. double Position3DProxy::Yaw (   )  const [inline]   Accessor method. double Position3DProxy::XSpeed (   )  const [inline]   Accessor method. double Position3DProxy::YSpeed (   )  const [inline]   Accessor method. double Position3DProxy::ZSpeed (   )  const [inline]   Accessor method. double Position3DProxy::RollSpeed (   )  const [inline]   Accessor method. double Position3DProxy::PitchSpeed (   )  const [inline]   Accessor method. double Position3DProxy::YawSpeed (   )  const [inline]   Accessor method. unsigned char Position3DProxy::Stall (   )  const [inline]   Accessor method. The documentation for this class was generated from the following file: playerclient.h