planner
[Device proxies]


Detailed Description

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


Classes

struct  playerc_planner_t

Functions

playerc_planner_tplayerc_planner_create (playerc_client_t *client, int index)
void playerc_planner_destroy (playerc_planner_t *device)
int playerc_planner_subscribe (playerc_planner_t *device, int access)
int playerc_planner_unsubscribe (playerc_planner_t *device)
int playerc_planner_set_cmd_pose (playerc_planner_t *device, double gx, double gy, double ga)
int playerc_planner_get_waypoints (playerc_planner_t *device)
int playerc_planner_enable (playerc_planner_t *device, int state)

Function Documentation

playerc_planner_t* playerc_planner_create ( playerc_client_t client,
int  index 
)

Create a planner device proxy.

void playerc_planner_destroy ( playerc_planner_t device  ) 

Destroy a planner device proxy.

int playerc_planner_enable ( playerc_planner_t device,
int  state 
)

Enable / disable the robot's motionSet state to 1 to enable, 0 to disable.

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.

int playerc_planner_set_cmd_pose ( playerc_planner_t device,
double  gx,
double  gy,
double  ga 
)

Set the goal pose (gx, gy, ga)

int playerc_planner_subscribe ( playerc_planner_t device,
int  access 
)

Subscribe to the planner device

int playerc_planner_unsubscribe ( playerc_planner_t device  ) 

Un-subscribe from the planner device


Last updated 12 September 2005 21:38:45