PlayerCc::Position1dProxy Class Reference
The Position1dProxy class is used to control a position1d device.
More...
#include <playerc++.h>
Inheritance diagram for PlayerCc::Position1dProxy:
Collaboration diagram for PlayerCc::Position1dProxy:
Detailed Description
The Position1dProxy class is used to control a position1d device.
The latest position data is contained in the attributes pos, vel , etc.
Public Member Functions | |
| Position1dProxy (PlayerClient *aPc, uint32_t aIndex=0) | |
| Constructor. | |
| ~Position1dProxy () | |
| Destructor. | |
| void | SetSpeed (double aVel) |
| Send a motor command for velocity control mode. More... | |
| void | GoTo (double aPos, double aVel) |
| Send a motor command for position control mode. More... | |
| void | RequestGeom () |
| Get the device's geometry; it is read into the relevant class attributes. More... | |
| player_pose3d_t | GetPose () const |
| Accessor for the pose (fill it in by calling RequestGeom) | |
| player_bbox3d_t | GetSize () const |
| Accessor for the size (fill it in by calling RequestGeom) | |
| void | SetMotorEnable (bool enable) |
| Enable/disable the motors. More... | |
| void | SetOdometry (double aPos) |
Sets the odometry to the pose aPos. More... | |
| void | ResetOdometry () |
| Reset odometry to 0. | |
| double | GetPos () const |
| Get current position. | |
| double | GetVel () const |
| Get current velocity. | |
| bool | GetStall () const |
| Get whether or not the device is stalled. | |
| uint8_t | GetStatus () const |
| Get device status. | |
| bool | IsLimitMin () const |
| Is the device at the min limit? | |
| bool | IsLimitCen () const |
| Is the device at the center limit? | |
| bool | IsLimitMax () const |
| Is the device at the max limit? | |
| bool | IsOverCurrent () const |
| Is the device over current limits? | |
| bool | IsTrajComplete () const |
| Is the device finished moving? | |
| bool | IsEnabled () const |
| Is the device enabled? | |
 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_position1d_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 |
Member Function Documentation
◆ GoTo()
| void PlayerCc::Position1dProxy::GoTo | ( | double | aPos, |
| double | aVel | ||
| ) |
Send a motor command for position control mode.
Specify the desired pose of the robot in [m] or [rad] desired motion in [m/s] or [rad/s]
◆ RequestGeom()
| void PlayerCc::Position1dProxy::RequestGeom | ( | ) |
Get the device's geometry; it is read into the relevant class attributes.
◆ SetMotorEnable()
| void PlayerCc::Position1dProxy::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.
◆ SetOdometry()
| void PlayerCc::Position1dProxy::SetOdometry | ( | double | aPos | ) |
Sets the odometry to the pose aPos.
- Note
- aPos is in either [m] or [rad] depending on the actuator type
◆ SetSpeed()
| void PlayerCc::Position1dProxy::SetSpeed | ( | double | aVel | ) |
Send a motor command for velocity control mode.
Specify the forward, sideways, and angular speeds in m/sec, m/sec, and radians/sec, respectively.
The documentation for this class was generated from the following file:
Generated on Wed Sep 2 2020 16:39:30 for Player by
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