PlayerCc::Position3dProxy Class Reference
[Proxies]
#include <playerc++.h>
Inheritance diagram for PlayerCc::Position3dProxy:
Detailed Description
ThePosition3dProxy class is used to control a interface_position3d device.
The latest position data is contained in the attributes xpos, ypos, etc.
Definition at line 1910 of file playerc++.h.
Public Member Functions | |
| Position3dProxy (PlayerClient *aPc, uint32_t 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 | |
| void | RequestGeom () |
| Get the device's geometry; it is read into the relevant class attributes. | |
| 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. | |
Private Member Functions | |
| void | Subscribe (uint32_t aIndex) |
| void | Unsubscribe () |
Private Attributes | |
| playerc_position3d_t * | mDevice |
Member Function Documentation
| void PlayerCc::Position3dProxy::SetSpeed | ( | double | aXSpeed, | |
| double | aYSpeed, | |||
| double | aZSpeed, | |||
| double | aRollSpeed, | |||
| double | aPitchSpeed, | |||
| double | aYawSpeed | |||
| ) |
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.
| void PlayerCc::Position3dProxy::SetSpeed | ( | double | aXSpeed, | |
| double | aYSpeed, | |||
| double | aZSpeed, | |||
| double | aYawSpeed | |||
| ) | [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.
Definition at line 1937 of file playerc++.h.
References PlayerCc::Position2dProxy::SetSpeed().
Here is the call graph for this function:
| void PlayerCc::Position3dProxy::GoTo | ( | player_pose3d_t | aPos, | |
| player_pose3d_t | aVel | |||
| ) |
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
| void PlayerCc::Position3dProxy::SetMotorEnable | ( | bool | aEnable | ) |
Enable/disable the motors.
Set state to 0 to disable or 1 to enable.
- Attention:
- Be VERY careful with this method! Your robot is likely to run across the room with the charger still attached.
| void PlayerCc::Position3dProxy::SelectVelocityControl | ( | int | aMode | ) |
Select velocity control mode.
This is driver dependent.
| void PlayerCc::Position3dProxy::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).
Note that x, y, and z are in m and roll, pitch, and yaw are in radians.
The documentation for this class was generated from the following file: