PlayerCc::Position2dProxy Class Reference

The Position2dProxy class is used to control a position2d device. More...

#include <playerc++.h>

Inheritance diagram for PlayerCc::Position2dProxy:

List of all members.

Public Member Functions
	Position2dProxy (PlayerClient *aPc, uint32_t 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_pose2d_t vel)
	Overloaded SetSpeed that takes player_pose2d_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_pose2d_t pos, player_pose2d_t vel)
	Send a motor command for position control mode.
void	GoTo (player_pose2d_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_pose3d_t	GetOffset ()
	Accessor for the robot's pose with respect to its.
player_bbox3d_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)
	Select position mode Set mode for 0 for velocity mode, 1 for position mode.
double	GetXPos () const
	Set PID terms.
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.
Private Member Functions
void	Subscribe (uint32_t aIndex)
void	Unsubscribe ()
Private Attributes
playerc_position2d_t *	mDevice

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Detailed Description

The Position2dProxy class is used to control a position2d device.

The latest position data is contained in the attributes xpos, ypos, etc.

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Member Function Documentation

double PlayerCc::Position2dProxy::GetXPos

(

)

const [inline]

Set PID terms.

Set PID terms Set speed ramping profile spd rad/s, acc rad/s/s Accessor method

void PlayerCc::Position2dProxy::GoTo	(	player_pose2d_t	pos,
		player_pose2d_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::RequestGeom

(

)

Get the device's geometry; it is read into the relevant class attributes.

Call GetOffset() to access this data.

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
	)

Select position mode Set mode for 0 for velocity mode, 1 for position mode.

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	aYawSpeed
	)		[inline]

Same as the previous SetSpeed(), but doesn't take the yspeed speed (so use this one for non-holonomic robots).

References SetSpeed().

Referenced by SetSpeed().

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).

void PlayerCc::Position2dProxy::SetVelHead	(	double	aXSpeed,
		double	aYawHead
	)		[inline]

Same as the previous SetVelHead(), but doesn't take the yspeed speed (so use this one for non-holonomic robots).

References SetVelHead().

Referenced by SetVelHead().

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

• playerc++.h