The PlannerProxy proxy provides an interface to a 2D motion planner.
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#include <playerc++.h>
Public Member Functions | |
| PlannerProxy (PlayerClient *aPc, uint32_t 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. | |
| uint32_t | GetPathValid () const |
| Did the planner find a valid path? | |
| uint32_t | 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_pose2d_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_pose2d_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_pose2d_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_pose2d_t | GetWaypoint (uint32_t aIndex) const |
| Get the waypoint. | |
| int | GetCurrentWaypointId () const |
| Current waypoint index (handy if you already have the list of waypoints). | |
| uint32_t | GetWaypointCount () const |
| Number of waypoints in the plan. | |
| player_pose2d_t | operator[] (uint32_t aIndex) const |
| Waypoint access operator This operator provides an alternate way of access the waypoint data. | |
Private Member Functions | |
| void | Subscribe (uint32_t aIndex) |
| void | Unsubscribe () |
Private Attributes | |
| playerc_planner_t * | mDevice |
Detailed Description
The PlannerProxy proxy provides an interface to a 2D motion planner.
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_pose2d_t PlayerCc::PlannerProxy::operator[] | ( | uint32_t | 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: