PlayerCc::PlannerProxy Class Reference
[Proxies]
#include <playerc++.h>
Inherits PlayerCc::ClientProxy.
Detailed Description
ThePlannerProxy proxy provides an interface to a 2D motion planner.
Public Member Functions | |
| PlannerProxy (PlayerClient *aPc, uint aIndex=0) | |
| constructor | |
| ~PlannerProxy () | |
| destructor | |
| void | SetGoalPose (double aGx, double aGy, double aGa) |
| Set the goal pose (gx, gy, ga). | |
| void | RequestWaypoints () |
| Get the list of waypoints. Writes the result into the proxy rather than returning it to the caller. | |
| void | SetEnable (bool aEnable) |
| Enable/disable the robot's motion. Set state to true to enable, false to disable. | |
| uint | GetPathValid () const |
| Did the planner find a valid path? | |
| uint | GetPathDone () const |
| Have we arrived at the goal? | |
| double | GetPx () const |
| Current pose (m). | |
| double | GetPy () const |
| Current pose (m). | |
| double | GetPz () const |
| Current pose (m). | |
| double | GetGx () const |
| Goal location (radians). | |
| double | GetGy () const |
| Goal location (radians). | |
| double | GetGz () const |
| Goal location (radians). | |
| double | GetWx () const |
| Current waypoint location (m). | |
| double | GetWy () const |
| Current waypoint location (m). | |
| double | GetWz () const |
| Current waypoint location (m). | |
| uint | GetCurrentWaypoint () const |
| Current waypoint index (handy if you already have the list of waypoints). May be negative if there's no plan, or if the plan is done. | |
| uint | GetWaypointCount () const |
| Number of waypoints in the plan. | |
The documentation for this class was generated from the following file: