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

#include <playerc++.h>

Inheritance diagram for PlayerCc::Position2dProxy:

Collaboration diagram for PlayerCc::Position2dProxy:

Detailed Description

The Position2dProxy class is used to control a position2d device.

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

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. More...

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). More...

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. More...

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). More...

void	GoTo (player_pose2d_t pos, player_pose2d_t vel)
	Send a motor command for position control mode. More...

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. More...

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. More...

void	ResetOdometry ()
	Reset odometry to (0,0,0).

void	SetOdometry (double aX, double aY, double aYaw)
	Sets the odometry to the pose (x, y, yaw). More...

double	GetXPos () const
	Get the device's X position.

double	GetYPos () const
	Get the device's Y position.

double	GetYaw () const
	Get the device's Yaw position (angle)

double	GetXSpeed () const
	Get the device's X speed.

double	GetYSpeed () const
	Get the device's Y speed.

double	GetYawSpeed () const
	Get the device's angular (yaw) speed.

bool	GetStall () const
	Is the device stalled?

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_position2d_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::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.

◆ RequestGeom()

void PlayerCc::Position2dProxy::RequestGeom ( )

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

Call GetOffset() to access this data.

◆ SetMotorEnable()

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.

◆ SetOdometry()

void PlayerCc::Position2dProxy::SetOdometry	(	double	aX,
		double	aY,
		double	aYaw
	)

Sets the odometry to the pose (x, y, yaw).

Note that x and y are in m and yaw is in radians.

◆ SetSpeed() [1/2]

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.

◆ SetSpeed() [2/2]

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).

◆ SetVelHead() [1/2]

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).

◆ SetVelHead() [2/2]

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).

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

playerc++.h