PlayerCc::Position3dProxy Class Reference
[Proxies]
#include <playerc++.h>
Inherits PlayerCc::ClientProxy.
Detailed Description
ThePosition3dProxy
class is used to control a interface_position3d device.
The latest position data is contained in the attributes xpos, ypos, etc.
Public Member Functions | |
Position3dProxy (PlayerClient *aPc, uint aIndex=0) | |
constructor | |
~Position3dProxy () | |
destructor | |
void | SetSpeed (double aXSpeed, double aYSpeed, double aZSpeed, double aRollSpeed, double aPitchSpeed, double aYawSpeed) |
Send a motor command for a planar robot. | |
void | SetSpeed (double aXSpeed, double aYSpeed, double aZSpeed, double aYawSpeed) |
Send a motor command for a planar robot. | |
void | SetSpeed (double aXSpeed, double aYSpeed, double aYawSpeed) |
simplified version of SetSpeed | |
void | SetSpeed (double aXSpeed, double aYawSpeed) |
Same as the previous SetSpeed(), but doesn't take the sideways speed (so use this one for non-holonomic robots). | |
void | SetSpeed (player_pose3d_t vel) |
Overloaded SetSpeed that takes player_pose3d_t as input. | |
void | GoTo (player_pose3d_t aPos, player_pose3d_t aVel) |
Send a motor command for position control mode. | |
void | GoTo (player_pose3d_t aPos) |
Same as the previous GoTo(), but does'n take vel argument. | |
void | GoTo (double aX, double aY, double aZ, double aRoll, double aPitch, double aYaw) |
Same as the previous GoTo(), but only takes position arguments, no motion speed setting. | |
void | SetMotorEnable (bool aEnable) |
Enable/disable the motors. | |
void | SelectVelocityControl (int aMode) |
Select velocity control mode. | |
void | ResetOdometry () |
Reset odometry to (0,0,0,0,0,0). | |
void | SetOdometry (double aX, double aY, double aZ, double aRoll, double aPitch, double aYaw) |
Sets the odometry to the pose (x, y, z, roll, pitch, yaw). | |
double | GetXPos () const |
Accessor method. | |
double | GetYPos () const |
Accessor method. | |
double | GetZPos () const |
Accessor method. | |
double | GetRoll () const |
Accessor method. | |
double | GetPitch () const |
Accessor method. | |
double | GetYaw () const |
Accessor method. | |
double | GetXSpeed () const |
Accessor method. | |
double | GetYSpeed () const |
Accessor method. | |
double | GetZSpeed () const |
Accessor method. | |
double | GetRollSpeed () const |
Accessor method. | |
double | GetPitchSpeed () const |
Accessor method. | |
double | GetYawSpeed () const |
Accessor method. | |
bool | GetStall () const |
Accessor method. |
Member Function Documentation
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Send a motor command for position control mode. Specify the desired pose of the robot as a player_pose3d_t structure desired motion speed as a player_pose3d_t structure |
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Select velocity control mode. This is driver dependent. |
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Enable/disable the motors.
Set
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Sets the odometry to the pose
Note that |
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Send a motor command for a planar robot. Specify the forward, sideways, and angular speeds in m/s, m/s, and rad/s, respectively. |
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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. |
The documentation for this class was generated from the following file: