PlayerCc::Position3dProxy Class Reference

The Position3dProxy class is used to control a interface_position3d device. More...

#include <playerc++.h>

Inheritance diagram for PlayerCc::Position3dProxy:

List of all members.

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 (x, y, z, roll, pitch, yaw).
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

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Detailed Description

The Position3dProxy class is used to control a interface_position3d device.

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

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Member Function Documentation

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::RequestGeom

(

)

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

void PlayerCc::Position3dProxy::SelectVelocityControl

(

int

aMode

)

Select velocity control mode.

This is driver dependent.

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::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.

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.

References SetSpeed().

Referenced by SetSpeed().

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	aYawSpeed
	)		[inline]

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

References SetSpeed().

Referenced by SetSpeed().

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

• playerc++.h