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: