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

#include <playerc++.h>

Inheritance diagram for PlayerCc::Position3dProxy:

Collaboration diagram for PlayerCc::Position3dProxy:

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.

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. More...

void	SetSpeed (double aXSpeed, double aYSpeed, double aZSpeed, double aYawSpeed)
	Send a motor command for a planar robot. More...

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). More...

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. More...

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. More...

void	SelectVelocityControl (int aMode)
	Select velocity control mode. More...

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). More...

void	RequestGeom ()
	Get the device's geometry; it is read into the relevant class attributes. More...

double	GetXPos () const
	Get device X position.

double	GetYPos () const
	Get device Y position.

double	GetZPos () const
	Get device Z position.

double	GetRoll () const
	Get device Roll angle.

double	GetPitch () const
	Get device Pitch angle.

double	GetYaw () const
	Get device Yaw angle.

double	GetXSpeed () const
	Get device X speed.

double	GetYSpeed () const
	Get device Y speed.

double	GetZSpeed () const
	Get device Z speed.

double	GetRollSpeed () const
	Get device Roll speed.

double	GetPitchSpeed () const
	Get device Pitch speed.

double	GetYawSpeed () const
	Get device 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_position3d_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::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

◆ RequestGeom()

void PlayerCc::Position3dProxy::RequestGeom ( )

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

◆ SelectVelocityControl()

void PlayerCc::Position3dProxy::SelectVelocityControl ( int aMode )

Select velocity control mode.

This is driver dependent.

◆ SetMotorEnable()

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.

◆ SetOdometry()

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.

◆ SetSpeed() [1/3]

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.

◆ SetSpeed() [2/3]

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.

◆ SetSpeed() [3/3]

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).

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

playerc++.h