planner

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

Detailed Description

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

Classes
struct	playerc_planner_t
	Planner device data. More...

Functions
PLAYERC_EXPORT playerc_planner_t *	playerc_planner_create (playerc_client_t *client, int index)
	Create a planner device proxy. More...
PLAYERC_EXPORT void	playerc_planner_destroy (playerc_planner_t *device)
	Destroy a planner device proxy. More...
PLAYERC_EXPORT int	playerc_planner_subscribe (playerc_planner_t *device, int access)
	Subscribe to the planner device.
PLAYERC_EXPORT int	playerc_planner_unsubscribe (playerc_planner_t *device)
	Un-subscribe from the planner device.
PLAYERC_EXPORT int	playerc_planner_set_cmd_pose (playerc_planner_t *device, double gx, double gy, double ga)
	Set the goal pose (gx, gy, ga)
PLAYERC_EXPORT int	playerc_planner_set_cmd_start (playerc_planner_t *device, double sx, double sy, double sa)
	Set the start pose (sx, sy, sa)
PLAYERC_EXPORT int	playerc_planner_get_waypoints (playerc_planner_t *device)
	Get the list of waypoints. More...
PLAYERC_EXPORT int	playerc_planner_enable (playerc_planner_t *device, int state)
	Enable / disable the robot's motion. More...

Function Documentation

playerc_planner_create()

PLAYERC_EXPORT playerc_planner_t* playerc_planner_create	(	playerc_client_t *	client,
		int	index
	)

Create a planner device proxy.

playerc_planner_destroy()

PLAYERC_EXPORT void playerc_planner_destroy

(

playerc_planner_t *

device

)

Destroy a planner device proxy.

playerc_planner_enable()

PLAYERC_EXPORT int playerc_planner_enable	(	playerc_planner_t *	device,
		int	state
	)

Enable / disable the robot's motion.

Set state to 1 to enable, 0 to disable.

playerc_planner_get_waypoints()

PLAYERC_EXPORT int playerc_planner_get_waypoints

(

playerc_planner_t *

device

)

Get the list of waypoints.

Writes the result into the proxy rather than returning it to the caller.