PlayerCc::PlannerProxy

PlayerCc::PlannerProxy Class Reference
[Proxies]

#include <playerc++.h>

Inherits PlayerCc::ClientProxy.

List of all members.

Detailed Description

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


Public Member Functions

 PlannerProxy (PlayerClient *aPc, uint 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.
uint GetPathValid () const
 Did the planner find a valid path?
uint 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_pose_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_pose_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_pose_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_pose_t GetWaypoint (uint aIndex) const
 Get the waypoint.
int GetCurrentWaypointId () const
 Current waypoint index (handy if you already have the list of waypoints).
uint GetWaypointCount () const
 Number of waypoints in the plan.
player_pose_t operator[] (uint aIndex) const
 Waypoint access operator This operator provides an alternate way of access the waypoint data.

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_pose_t PlayerCc::PlannerProxy::operator[] (  uint  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:
Last updated 12 September 2005 21:38:45