Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * qa_player_setmotor.cpp - Player QA App: set motor values 00004 * 00005 * Created: Tue Sep 30 23:40:57 2008 00006 * Copyright 2006-2008 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL file in the doc directory. 00021 */ 00022 00023 #include <blackboard/remote.h> 00024 #include <interfaces/MotorInterface.h> 00025 00026 #include <unistd.h> 00027 #include <cstdio> 00028 00029 using namespace fawkes; 00030 00031 int 00032 main(int argc, char **argv) 00033 { 00034 BlackBoard *bb = new RemoteBlackBoard("localhost", 1910); 00035 00036 MotorInterface *motor = bb->open_for_reading<MotorInterface>("Player Motor"); 00037 motor->read(); 00038 00039 printf("Motor x=%f y=%f z=%f\n", 00040 motor->odometry_position_x(), motor->odometry_position_y(), 00041 motor->odometry_orientation()); 00042 00043 printf("Setting relative (2, 0, 0), this is (%f, %f, %f) global\n", 00044 motor->odometry_position_x() + 2, motor->odometry_position_y(), 00045 motor->odometry_orientation()); 00046 00047 motor->msgq_enqueue(new MotorInterface::GotoMessage(motor->odometry_position_x() + 2, 00048 motor->odometry_position_y(), 00049 motor->odometry_orientation(), 00050 1 /* sec */)); 00051 00052 bb->close(motor); 00053 00054 delete bb; 00055 return 0; 00056 }