PlayerCc::Position2dProxy

PlayerCc::Position2dProxy Class Reference
[Proxies]

#include <playerc++.h>

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 *aPc, uint aIndex=0)
	constructor
	~Position2dProxy ()
	destructor
void	SetSpeed (double aXSpeed, double aYSpeed, double aYawSpeed)
	Send a motor command for velocity control mode.
void	SetSpeed (double aXSpeed, double aYawSpeed)
	Same as the previous SetSpeed(), but doesn't take the yspeed speed (so use this one for non-holonomic robots).
void	SetSpeed (player_pose_t vel)
	Overloaded SetSpeed that takes player_pose_t as an argument.
void	SetVelHead (double aXSpeed, double aYSpeed, double aYawHead)
	Send a motor command for velocity/heading control mode.
void	SetVelHead (double aXSpeed, double aYawHead)
	Same as the previous SetVelHead(), but doesn't take the yspeed speed (so use this one for non-holonomic robots).
void	GoTo (player_pose_t pos, player_pose_t vel)
	Send a motor command for position control mode.
void	GoTo (player_pose_t pos)
	Same as the previous GoTo(), but doesn't take speed.
void	GoTo (double aX, double aY, double aYaw)
	Same as the previous GoTo(), but only takes position arguments, no motion speed setting.
void	SetCarlike (double aXSpeed, double aDriveAngle)
	Sets command for carlike robot.
void	RequestGeom ()
	Get the device's geometry; it is read into the relevant class attributes.
player_pose_t	GetPose ()
	Accessor for the pose (fill it in by calling RequestGeom).
player_bbox_t	GetSize ()
	Accessor for the size (fill it in by calling RequestGeom).
void	SetMotorEnable (bool enable)
	Enable/disable the motors.
void	ResetOdometry ()
	Reset odometry to (0,0,0).
void	SetOdometry (double aX, double aY, double aYaw)
	Sets the odometry to the pose (x, y, yaw).
double	GetXPos () const
	Accessor method.
double	GetYPos () const
	Accessor method.
double	GetYaw () const
	Accessor method.
double	GetXSpeed () const
	Accessor method.
double	GetYSpeed () const
	Accessor method.
double	GetYawSpeed () const
	Accessor method.
bool	GetStall () const
	Accessor method.

Member Function Documentation

void PlayerCc::Position2dProxy::GoTo	(	player_pose_t	pos,
		player_pose_t	vel
	)

Send a motor command for position control mode.

Specify the desired pose of the robot as a player_pose_t. desired motion speed as a player_pose_t.

void PlayerCc::Position2dProxy::SetMotorEnable

(

bool

enable

)

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.

void PlayerCc::Position2dProxy::SetOdometry	(	double	aX,
		double	aY,
		double	aYaw
	)

Sets the odometry to the pose (x, y, yaw).

Note that x and y are in m and yaw is in radians.

void PlayerCc::Position2dProxy::SetSpeed	(	double	aXSpeed,
		double	aYSpeed,
		double	aYawSpeed
	)

Send a motor command for velocity control mode.

Specify the forward, sideways, and angular speeds in m/sec, m/sec, and radians/sec, respectively.

void PlayerCc::Position2dProxy::SetVelHead	(	double	aXSpeed,
		double	aYSpeed,
		double	aYawHead
	)

Send a motor command for velocity/heading control mode.

Specify the forward and sideways velocity (m/sec), and angular heading (rads).

The documentation for this class was generated from the following file:

playerc++.h

Last updated 12 September 2005 21:38:45

PlayerCc::Position2dProxy Class Reference [Proxies]

Detailed Description

Public Member Functions

Member Function Documentation

PlayerCc::Position2dProxy Class Reference
[Proxies]