Detailed Description

The PlannerProxy proxy provides an interface to a 2D motion planner.

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	SetStartPose (double aSx, double aSy, double aSa)
	Set the start pose (sx, sy, sa)

void	RequestWaypoints ()
	Get the list of waypoints. More...

void	SetEnable (bool aEnable)
	Enable/disable the robot's motion. More...

uint32_t	GetPathValid () const
	Did the planner find a valid path?

uint32_t	GetPathDone () const
	Have we arrived at the goal?

double	GetPathLength () const
	Get straight-line distance along path. More...

double	GetPx () const
	Current pose (m) More...

double	GetPy () const
	Current pose (m) More...

double	GetPa () const
	Current pose (radians) More...

player_pose2d_t	GetPose () const
	Get the current pose.

double	GetGx () const
	Goal location (m) More...

double	GetGy () const
	Goal location (m) More...

double	GetGa () const
	Goal location (radians) More...

player_pose2d_t	GetGoal () const
	Get the goal.

double	GetWx () const
	Current waypoint location (m) More...

double	GetWy () const
	Current waypoint location (m) More...

double	GetWa () const
	Current waypoint location (rad) More...

player_pose2d_t	GetCurrentWaypoint () const
	Get the current waypoint.

double	GetIx (int i) const
	Grab a particular waypoint location (m) More...

double	GetIy (int i) const
	Grab a particular waypoint location (m) More...

double	GetIa (int i) const
	Grab a particular waypoint location (rad) More...

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). More...

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. More...

Public Member Functions inherited from PlayerCc::ClientProxy
bool	IsValid () const
	Proxy has any information. More...

bool	IsFresh () const
	Check for fresh data. More...

void	NotFresh ()
	Reset Fresh flag. More...

std::string	GetDriverName () const
	Get the underlying driver's name. More...

double	GetDataTime () const
	Returns the received timestamp of the last data sample [s].

double	GetElapsedTime () const
	Returns the time between the current data time and the time of the last data sample [s].

PlayerClient *	GetPlayerClient () const
	Get a pointer to the Player Client. More...

uint32_t	GetIndex () const
	Get device index. More...

uint32_t	GetInterface () const
	Get Interface Code. More...

std::string	GetInterfaceStr () const
	Get Interface Name. More...

void	SetReplaceRule (bool aReplace, int aType=-1, int aSubtype=-1)
	Set a replace rule for this proxy on the server. More...

int	HasCapability (uint32_t aType, uint32_t aSubtype)
	Request capabilities of device. More...

int	GetBoolProp (char aProperty, bool aValue)
	Request a boolean property. More...

int	SetBoolProp (char *aProperty, bool aValue)
	Set a boolean property. More...

int	GetIntProp (char aProperty, int32_t aValue)
	Request an integer property. More...

int	SetIntProp (char *aProperty, int32_t aValue)
	Set an integer property. More...

int	GetDblProp (char aProperty, double aValue)
	Request a double property. More...

int	SetDblProp (char *aProperty, double aValue)
	Set a double property. More...

int	GetStrProp (char aProperty, char *aValue)
	Request a string property. More...

int	SetStrProp (char aProperty, char aValue)
	Set a string property. More...

template<typename T >
connection_t	ConnectReadSignal (T aSubscriber)
	Connect a read signal to this proxy. More...

void	DisconnectReadSignal (connection_t aSubscriber)
	Disconnect a signal from this proxy. More...

Private Member Functions
void	Subscribe (uint32_t aIndex)

void	Unsubscribe ()

Private Attributes
playerc_planner_t *	mDevice

Additional Inherited Members
Public Types inherited from PlayerCc::ClientProxy
typedef int	connection_t

typedef boost::mutex::scoped_lock	scoped_lock_t

typedef int	read_signal_t

Protected Member Functions inherited from PlayerCc::ClientProxy
	ClientProxy (PlayerClient *aPc, uint32_t aIndex)

template<typename T >
T	GetVar (const T &aV) const

template<typename T >
void	GetVarByRef (const T aBegin, const T aEnd, T aDest) const

Protected Attributes inherited from PlayerCc::ClientProxy
PlayerClient *	mPc

playerc_client_t *	mClient

playerc_device_t *	mInfo

bool	mFresh