PlayerCc::Position2dProxy Class Reference
[Proxies]
#include <playerc++.h>
Inherits PlayerCc::ClientProxy.
Detailed Description
ThePosition2dProxy class is used to control a position2d device.
The latest position data is contained in the attributes xpos, ypos, etc.
Public Member Functions | |
| Position2dProxy (PlayerClient *aPc, uint aIndex=0) | |
| constructor | |
| ~Position2dProxy () | |
| destructor | |
| void | SetSpeed (double aXSpeed, double aYSpeed, double aYawSpeed) |
| Send a motor command for velocity control mode. Specify the forward, sideways, and angular speeds in m/sec, m/sec, and radians/sec, respectively. | |
| void | SetSpeed (double aXSpeed, double aYawSpeed) |
| Same as the previous SetSpeed(), but doesn't take the yspeed speed (so use this one for non-holonomic robots). | |
| void | GoTo (double aX, double aY, double aYaw) |
| Send a motor command for position control mode. Specify the desired pose of the robot in m, m, radians. | |
| void | SetCarlike (double aXSpeed, double aDriveAngle) |
| Sets command for carlike robot. | |
| void | RequestGeom () |
| Get the device's geometry; it is read into the relevant class attributes. | |
| player_pose_t | GetPose () |
| Accessor for the pose (fill it in by calling RequestGeom). | |
| player_bbox_t | GetSize () |
| Accessor for the size (fill it in by calling RequestGeom). | |
| void | SetMotorEnable (bool enable) |
Enable/disable the motors. Set state to 0 to disable or 1 to enable. Be VERY careful with this method! Your robot is likely to run across the room with the charger still attached. | |
| void | ResetOdometry () |
| Reset odometry to (0,0,0). | |
| void | SetOdometry (double aX, double aY, double aYaw) |
Sets the odometry to the pose x and y are in m and yaw is in radians. | |
| double | GetXPos () const |
| Accessor method. | |
| double | GetYPos () const |
| Accessor method. | |
| double | GetYaw () const |
| Accessor method. | |
| double | GetXSpeed () const |
| Accessor method. | |
| double | GetYSpeed () const |
| Accessor method. | |
| double | GetYawSpeed () const |
| Accessor method. | |
| bool | GetStall () const |
| Accessor method. | |
The documentation for this class was generated from the following file: