Public Member Functions | Private Member Functions | Private Attributes | List of all members
PlayerCc::PlannerProxy Class Reference

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

#include <playerc++.h>

Inheritance diagram for PlayerCc::PlannerProxy:
PlayerCc::ClientProxy

Public Member Functions

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

Private Member Functions

void Subscribe (uint32_t aIndex)
 
void Unsubscribe ()
 

Private Attributes

playerc_planner_tmDevice
 

Additional Inherited Members

- Public Types inherited from PlayerCc::ClientProxy
typedef int connection_t
 
typedef boost::mutex::scoped_lock scoped_lock_t
 
typedef int read_signal_t
 
- Protected Member Functions inherited from PlayerCc::ClientProxy
 ClientProxy (PlayerClient *aPc, uint32_t aIndex)
 
template<typename T >
GetVar (const T &aV) const
 
template<typename T >
void GetVarByRef (const T aBegin, const T aEnd, T aDest) const
 
- Protected Attributes inherited from PlayerCc::ClientProxy
PlayerClientmPc
 
playerc_client_tmClient
 
playerc_device_tmInfo
 
bool mFresh
 

Detailed Description

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

Member Function Documentation

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

double PlayerCc::PlannerProxy::GetGa ( ) const
inline

Goal location (radians)

Deprecated:
use GetGoal() 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::GetIa ( int  i) const

Grab a particular waypoint location (rad)

Deprecated:
use GetWaypoint() 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::GetPa ( ) const
inline

Current pose (radians)

Deprecated:
use GetPose() instead
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::GetWa ( ) const
inline

Current waypoint location (rad)

Deprecated:
use GetCurWaypoint() 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
player_pose2d_t PlayerCc::PlannerProxy::operator[] ( uint32_t  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].

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.


The documentation for this class was generated from the following file:

Last updated 12 September 2005 21:38:45