Home FAQ Player Stage Gazebo Contrib Documentation Publications Contributors Users Project Download Bugs/Feedback Mailing lists Radish Old news Old stuff

PositionProxy Class Reference [Proxies] #include <playerclient.h> Inherits ClientProxy. List of all members. Detailed Description The PositionProxy class is used to control a position device. The latest position data is contained in the attributes xpos, ypos, etc. Public Member Functions   PositionProxy (PlayerClient *pc, unsigned short index, unsigned char access='c') int  GetGeometry () int  SetSpeed (double speed, double sidespeed, double turnrate) int  SetSpeed (double speed, double turnrate) int  GoTo (double x, double y, double t) int  SetMotorState (unsigned char state) int  SelectVelocityControl (unsigned char mode) int  ResetOdometry () int  SelectPositionMode (unsigned char mode) int  SetOdometry (double x, double y, double t) int  SetSpeedPID (int kp, int ki, int kd)   Only supported by the reb_position driver. int  SetPositionPID (short kp, short ki, short kd)   Only supported by the reb_position driver. int  SetPositionSpeedProfile (short spd, short acc)   Only supported by the reb_position driver. int  DoStraightLine (int mm)   Only supported by the reb_position driver. int  DoRotation (int deg)   Only supported by the reb_position driver. int  DoDesiredHeading (int theta, int xspeed, int 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  Theta () const   Accessor method. double  Speed () const   Accessor method. double  SideSpeed () const   Accessor method. double  TurnRate () 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. Public Attributes double  pose [3] double  size [2] double  xpos   Robot pose (according to odometry) in m, m, radians. double  ypos   Robot pose (according to odometry) in m, m, radians. double  theta   Robot pose (according to odometry) in m, m, radians. double  speed   Robot speeds in m/sec, m/sec, radians/sec. double  sidespeed   Robot speeds in m/sec, m/sec, radians/sec. double  turnrate   Robot speeds in m/sec, m/sec, radians/sec. unsigned char  stall   Stall flag: 1 if the robot is stalled and 0 otherwise. Constructor & Destructor Documentation PositionProxy::PositionProxy (  PlayerClient *  pc, unsigned short  index, unsigned char  access = 'c' )  [inline]   Constructor. Leave the access field empty to start unconnected. Member Function Documentation int PositionProxy::GetGeometry (   )    Get the position geometry. Writes the result into the proxy (pose and size). int PositionProxy::SetSpeed (  double  speed, double  sidespeed, double  turnrate )    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 PositionProxy::SetSpeed (  double  speed, double  turnrate )  [inline]   Same as the previous SetSpeed(), but doesn't take the sideways speed (so use this one for non-holonomic robots). int PositionProxy::GoTo (  double  x, double  y, double  t )    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 PositionProxy::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 PositionProxy::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 PositionProxy::ResetOdometry (   )    Reset odometry to (0,0,0). Returns: 0 if everything's ok, -1 otherwise. int PositionProxy::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 PositionProxy::SetOdometry (  double  x, double  y, double  t )    Sets the odometry to the pose (x, y, theta). Note that x and y are in m and theta is in radians. Returns: 0 if OK, -1 else int PositionProxy::SetSpeedPID (  int  kp, int  ki, int  kd )    Only supported by the reb_position driver. int PositionProxy::SetPositionPID (  short  kp, short  ki, short  kd )    Only supported by the reb_position driver. int PositionProxy::SetPositionSpeedProfile (  short  spd, short  acc )    Only supported by the reb_position driver. int PositionProxy::DoStraightLine (  int  mm  )    Only supported by the reb_position driver. int PositionProxy::DoRotation (  int  deg  )    Only supported by the reb_position driver. int PositionProxy::DoDesiredHeading (  int  theta, int  xspeed, int  yawspeed )    Only supported by the reb_position driver. int PositionProxy::SetStatus (  uint8_t  cmd, uint16_t  value )    Only supported by the segwayrmp driver. int PositionProxy::PlatformShutdown (   )    Only supported by the segwayrmp driver. double PositionProxy::Xpos (   )  const [inline]   Accessor method. double PositionProxy::Ypos (   )  const [inline]   Accessor method. double PositionProxy::Theta (   )  const [inline]   Accessor method. double PositionProxy::Speed (   )  const [inline]   Accessor method. double PositionProxy::SideSpeed (   )  const [inline]   Accessor method. double PositionProxy::TurnRate (   )  const [inline]   Accessor method. unsigned char PositionProxy::Stall (   )  const [inline]   Accessor method. void PositionProxy::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 PositionProxy::Print (   )  [virtual]   Print current position device state. Reimplemented from ClientProxy. Member Data Documentation double PositionProxy::pose[3]   Robot geometry in robot cs: pose gives the position and orientation, size gives the extent. These values are filled in by GetGeometry(). double PositionProxy::size[2] double PositionProxy::xpos   Robot pose (according to odometry) in m, m, radians. double PositionProxy::ypos   Robot pose (according to odometry) in m, m, radians. double PositionProxy::theta   Robot pose (according to odometry) in m, m, radians. double PositionProxy::speed   Robot speeds in m/sec, m/sec, radians/sec. double PositionProxy::sidespeed   Robot speeds in m/sec, m/sec, radians/sec. double PositionProxy::turnrate   Robot speeds in m/sec, m/sec, radians/sec. unsigned char PositionProxy::stall   Stall flag: 1 if the robot is stalled and 0 otherwise. The documentation for this class was generated from the following file: playerclient.h