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. | |
void | SetEnable (bool aEnable) |
Enable/disable the robot's motion. | |
uint | GetPathValid () const |
Did the planner find a valid path? | |
uint | GetPathDone () const |
Have we arrived at the goal? | |
double | GetPx () const |
double | GetPy () const |
double | GetPa () const |
player_pose_t | GetPose () const |
Get the current pose. | |
double | GetGx () const |
double | GetGy () const |
double | GetGa () const |
player_pose_t | GetGoal () const |
Get the goal. | |
double | GetWx () const |
double | GetWy () const |
double | GetWa () const |
player_pose_t | GetCurrentWaypoint () const |
Get the current waypoint. | |
double | GetIx (int i) const |
double | GetIy (int i) const |
double | GetIa (int i) const |
player_pose_t | GetWaypoint (uint aIndex) const |
Get the waypoint. | |
int | GetCurrentWaypointId () const |
Current waypoint index (handy if you already have the list of waypoints). | |
uint | GetWaypointCount () const |
Number of waypoints in the plan. | |
player_pose_t | operator[] (uint aIndex) const |
Waypoint access operator This operator provides an alternate way of access the waypoint data. |
Member Function Documentation
void PlayerCc::PlannerProxy::RequestWaypoints | ( | ) |
Get the list of waypoints.
Writes the result into the proxy rather than returning it to the caller.
void PlayerCc::PlannerProxy::SetEnable | ( | bool | aEnable | ) |
Enable/disable the robot's motion.
Set state to true to enable, false to disable.
double PlayerCc::PlannerProxy::GetPx | ( | ) | const [inline] |
Current pose (m)
- Deprecated:
- use GetPose() instead
double PlayerCc::PlannerProxy::GetPy | ( | ) | const [inline] |
Current pose (m)
- Deprecated:
- use GetPose() instead
double PlayerCc::PlannerProxy::GetPa | ( | ) | const [inline] |
Current pose (radians)
- Deprecated:
- use GetPose() instead
double PlayerCc::PlannerProxy::GetGx | ( | ) | const [inline] |
Goal location (m)
- Deprecated:
- use GetGoal() instead
double PlayerCc::PlannerProxy::GetGy | ( | ) | const [inline] |
Goal location (m)
- Deprecated:
- use GetGoal() instead
double PlayerCc::PlannerProxy::GetGa | ( | ) | const [inline] |
Goal location (radians)
- Deprecated:
- use GetGoal() instead
double PlayerCc::PlannerProxy::GetWx | ( | ) | const [inline] |
Current waypoint location (m)
- Deprecated:
- use GetCurWaypoint() instead
double PlayerCc::PlannerProxy::GetWy | ( | ) | const [inline] |
Current waypoint location (m)
- Deprecated:
- use GetCurWaypoint() instead
double PlayerCc::PlannerProxy::GetWa | ( | ) | const [inline] |
Current waypoint location (rad)
- Deprecated:
- use GetCurWaypoint() instead
double PlayerCc::PlannerProxy::GetIx | ( | int | i | ) | const |
Grab a particular waypoint location (m)
- Deprecated:
- use GetWaypoint() instead
double PlayerCc::PlannerProxy::GetIy | ( | int | i | ) | const |
Grab a particular waypoint location (m)
- Deprecated:
- use GetWaypoint() instead
double PlayerCc::PlannerProxy::GetIa | ( | int | i | ) | const |
Grab a particular waypoint location (rad)
- Deprecated:
- use GetWaypoint() instead
int PlayerCc::PlannerProxy::GetCurrentWaypointId | ( | ) | const [inline] |
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
player_pose_t PlayerCc::PlannerProxy::operator[] | ( | uint | aIndex | ) | const [inline] |
Waypoint access operator This operator provides an alternate way of access the waypoint data.
For example, given a PlannerProxy
named pp
, the following expressions are equivalent: pp.GetWaypoint(0)
and pp
[0].
The documentation for this class was generated from the following file: