Public Member Functions |
| PlannerProxy (PlayerClient *aPc, uint32_t aIndex=0) |
| constructor
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| ~PlannerProxy () |
| destructor
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void | SetGoalPose (double aGx, double aGy, double aGa) |
| Set the goal pose (gx, gy, ga)
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void | RequestWaypoints () |
| Get the list of waypoints.
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void | SetEnable (bool aEnable) |
| Enable/disable the robot's motion.
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uint32_t | GetPathValid () const |
| Did the planner find a valid path?
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uint32_t | GetPathDone () const |
| Have we arrived at the goal?
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double | GetPx () const |
| Current pose (m)
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double | GetPy () const |
| Current pose (m)
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double | GetPa () const |
| Current pose (radians)
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player_pose2d_t | GetPose () const |
| Get the current pose.
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double | GetGx () const |
| Goal location (m)
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double | GetGy () const |
| Goal location (m)
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double | GetGa () const |
| Goal location (radians)
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player_pose2d_t | GetGoal () const |
| Get the goal.
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double | GetWx () const |
| Current waypoint location (m)
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double | GetWy () const |
| Current waypoint location (m)
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double | GetWa () const |
| Current waypoint location (rad)
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player_pose2d_t | GetCurrentWaypoint () const |
| Get the current waypoint.
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double | GetIx (int i) const |
| Grab a particular waypoint location (m)
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double | GetIy (int i) const |
| Grab a particular waypoint location (m)
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double | GetIa (int i) const |
| Grab a particular waypoint location (rad)
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player_pose2d_t | GetWaypoint (uint32_t aIndex) const |
| Get the waypoint.
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int | GetCurrentWaypointId () const |
| Current waypoint index (handy if you already have the list of waypoints).
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uint32_t | GetWaypointCount () const |
| Number of waypoints in the plan.
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player_pose2d_t | operator[] (uint32_t aIndex) const |
| Waypoint access operator This operator provides an alternate way of access the waypoint data.
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bool | IsValid () const |
| Returns true if we have received any data from the device.
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bool | IsFresh () const |
| Fresh is set to true on each new read.
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void | NotFresh () |
| This states that the data in a client is currently not Fresh.
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std::string | GetDriverName () const |
| Returns the driver name.
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double | GetDataTime () const |
| Returns the received timestamp [s].
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double | GetElapsedTime () const |
| Returns the received timestamp [s].
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PlayerClient * | GetPlayerClient () const |
| Returns a pointer to the Player Client.
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uint32_t | GetIndex () const |
| Returns device index.
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uint32_t | GetInterface () const |
| Returns device interface.
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std::string | GetInterfaceStr () const |
| Returns device interface.
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void | SetReplaceRule (bool aReplace, int aType=-1, int aSubtype=-1) |
| Set a replace rule for this proxy on the server.
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int | HasCapability (uint32_t aType, uint32_t aSubtype) |
| Request capabilities of device.
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int | GetBoolProp (char *aProperty, bool *aValue) |
| Request a boolean property.
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int | SetBoolProp (char *aProperty, bool aValue) |
| Set a boolean property.
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int | GetIntProp (char *aProperty, int32_t *aValue) |
| Request an integer property.
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int | SetIntProp (char *aProperty, int32_t aValue) |
| Set an integer property.
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int | GetDblProp (char *aProperty, double *aValue) |
| Request a double property.
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int | SetDblProp (char *aProperty, double aValue) |
| Set a double property.
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int | GetStrProp (char *aProperty, char **aValue) |
| Request a string property.
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int | SetStrProp (char *aProperty, char *aValue) |
| Set a string property.
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template<typename T > |
connection_t | ConnectReadSignal (T aSubscriber) |
| Connect a signal to this proxy For more information check out Signals & multithreading.
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void | DisconnectReadSignal (connection_t aSubscriber) |
| Disconnect a signal to this proxy.
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The PlannerProxy
proxy provides an interface to a 2D motion planner.