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java.lang.Objectjavaclient.PlayerDevice
javaclient.PlannerInterface
public class PlannerInterface
The planner interface provides control of a 2-D motion planner.
Field Summary | |
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protected static short |
PLAYER_PLANNER_ENABLE_REQ
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protected static short |
PLAYER_PLANNER_GET_WAYPOINTS_REQ
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static short |
PLAYER_PLANNER_MAX_WAYPOINTS
the maximum number of waypoints in a single plan |
Fields inherited from class javaclient.PlayerDevice |
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device, DIFFERENCE_SYNCH_FACTOR, index, is, os, pc, PLAYER_MAX_REQREP_SIZE, PLAYER_STXX, reserved, size, t_sec, t_usec, ts_sec, ts_usec |
Constructor Summary | |
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PlannerInterface(PlayerClient pc,
short indexOfDevice)
Constructor for PlannerInterface. |
Method Summary | |
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PlayerPlannerWaypointT[] |
getAllPPWT()
Get the waypoints. |
short |
getCurWaypoint()
Get the current waypoint index |
short |
getDone()
Have we arrived at the goal? |
int |
getGa()
Get the goal location (A - deg) |
int |
getGx()
Get the goal location (X - mm) |
int |
getGy()
Get the goal location (Y - mm) |
int |
getPa()
Get the current location (A - deg) |
PlayerPlannerWaypointT |
getPPWT(int i)
Get a specified waypoint from an array of waypoints. |
int |
getPx()
Get the current location (X - mm) |
int |
getPy()
Get the current location (Y - mm) |
short |
getValid()
Did the planner find a valid path? |
int |
getWa()
Get the current waypoint location (A - deg) |
int |
getWaypointCount()
Get the number of waypoints to follow |
int |
getWaypointPlanCount()
Get the number of waypoints in the plan |
void |
getWaypoints()
Configuration request: Get waypoints. |
int |
getWx()
Get the current waypoint location (X - mm) |
int |
getWy()
Get the waypoint current location (Y - mm) |
void |
handleResponse(int size)
Handle acknowledgement response messages (threaded mode). |
boolean |
isReadyPPWT()
Check if waypoint data is available. |
void |
readData()
Read the planner data. |
void |
setGoal(int newgx,
int newgy,
int newga)
Sends a new goal to the planner interface. |
void |
setRobotMotion(byte state)
Configuration request: Enable/disable robot motion. |
Methods inherited from class javaclient.PlayerDevice |
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getTimeForDataSampled_sec, getTimeForDataSampled_usec, getTimeForDataSampled, getTimeForDataSent_sec, getTimeForDataSent_usec, getTimeForDataSent, handleEARMessage, handleNARMessage, readHeader, sendHeader |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
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protected static final short PLAYER_PLANNER_GET_WAYPOINTS_REQ
protected static final short PLAYER_PLANNER_ENABLE_REQ
public static final short PLAYER_PLANNER_MAX_WAYPOINTS
Constructor Detail |
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public PlannerInterface(PlayerClient pc, short indexOfDevice)
pc
- a reference to the PlayerClient objectindexOfDevice
- the index of the deviceMethod Detail |
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public void readData()
readData
in class PlayerDevice
public short getValid()
public short getDone()
public int getPx()
public int getPy()
public int getPa()
public int getGx()
public int getGy()
public int getGa()
public int getWx()
public int getWy()
public int getWa()
public short getCurWaypoint()
public int getWaypointPlanCount()
public void setGoal(int newgx, int newgy, int newga)
newgx
- goal location (X - mm)newgy
- goal location (Y - mm)newga
- goal location (A - deg)public void getWaypoints()
public void setRobotMotion(byte state)
state
- 1 to enable, 0 to disablepublic void handleResponse(int size)
handleResponse
in class PlayerDevice
size
- size of the payloadpublic int getWaypointCount()
public PlayerPlannerWaypointT getPPWT(int i)
public PlayerPlannerWaypointT[] getAllPPWT()
public boolean isReadyPPWT()
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