Sophie

Sophie

distrib > Fedora > 14 > x86_64 > media > updates > by-pkgid > 727fa15453fcace956b835e2377d4269 > files > 288

player-doc-3.0.2-5.fc14.noarch.rpm

<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN"
   "http://www.w3.org/TR/html4/strict.dtd">

<html>
<!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ -->

<HEAD>


<meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8">
<meta name="keywords" content="stage, robot, simulation, player, player/stage">
<link href="doxygen.css" rel="stylesheet" type="text/css">

<style type="text/css">

.floatright { float: right; margin: 0 0 1em 1em; }

body {
  font-family: sans-serif;
  #font-family: Geneva, Verdana, Helvetica, Arial, sans-serif;
  background-color: #FFF;
  color:#000;
}


a:link { 
	color: #A00;
}

a:visited { 
	color: #800;
}

a { text-decoration: none; }
a:hover { text-decoration: underline; }


.timestamp { text-align:right; background-color: #DDD; font-size:75%;}

h1 { 
  font-size:160%; 
}

h2 {
  font-size:110%;
  #color: #FFF;
  #background-color: #666;
  #padding:3px;
}

h3 { text-align:left; }

img {
  border: 0;
}

ul.menu { 
    position:relative;
    left:-2.5em;
    margin-bottom:0px;
    margin-top:0px;
}

ul.menu1 { 
    position:relative;
    left:-2.1em;
    margin-bottom:0px;
    margin-top:0px;
}

li.menu { 
    list-style-type: none;
    position:relative;
    #left:-0.5em;
}


#sidebar { position: absolute; left:0px; padding:2em; top:0em; width:12em;}

#content { position: absolute; left:12em; top:0em; padding-left:3em; padding-right:3em; padding-bottom:2em; margin-top:1em; margin-right:2em; }

div.box { background-color:#EEE; border: 1px solid #000; padding: 0.5ex 0.4em 0.5ex 0.6em; margin:1em;  }
div.title { font-weight:bold; background-color:#eee; margin-bottom:2px;}

div.topbar { position: absolute; top:0px; left:9em; margin:1em; }

</style>

<TITLE>Player Manual</TITLE>

</HEAD>

<body>

<div id="sidebar"> 

<h2 style="text-align:center;">
<a href="index.html">
<img width=140 src="http://playerstage.sourceforge.net/images/player_button_v3.png" alt="Player logo"><br></a>
</h2>



<div class="box">
<div class=title>Player</div>

<ul class=menu>
<li class=menu><a href="index.html">Frontpage</a>
<li class=menu><a href="modules.html">Contents</a>
</ul>
</div>

<div class="box">
<div class=title>User</div>

<ul class=menu>
<li class=menu><a href="install.html">Installation</a>
<li class=menu><a href="start.html">Quick start</a>
<li class=menu><a href="supported_hardware.html">Supported&nbsp;devices</a>
<li class=menu><a href="group__tutorials.html">Tutorials</a>
<li class=menu><a href="group__utils.html">Utilities</a>
<li class=menu><a href="group__clientlibs.html">Client&nbsp;libraries</a>
<li class=menu><a href="http://playerstage.sourceforge.net/wiki/Basic_FAQ">FAQ</a>
<li class=menu><a href="help.html">Help</a>

</ul>
</div>

<div class=box>
<div class="title">Developer</div>
<ul class=menu>
<li class=menu><a href="architecture.html">Architecture</a>
<li class=menu><a href="group__libplayercore.html">libplayercore</a>
<ul class=menu1>
<li class=menu><a href="group__interfaces.html">interfaces</a></li>
</ul>
<li class=menu><a href="group__libplayerdrivers.html">libplayerdrivers</a>
<ul class=menu1>
<li class=menu><a href="group__drivers.html">drivers</a></li>
</ul>
<li class=menu><a href="group__libplayercommon.html">libplayercommon</a>
<li class=menu><a href="group__libplayerutils.html">libplayerutils</a>
<li class=menu><a href="group__libplayersd.html">libplayersd</a>
<li class=menu><a href="group__libplayertcp.html">libplayertcp</a>
<li class=menu><a href="group__libplayerxdr.html">libplayerxdr</a>
<li class=menu><a href="todo.html">TODO</a>
</ul>
</div>

<div class=box>
<!-- <a href="http://sourceforge.net"><img border=0 src="http://sourceforge.net/sflogo.php?group_id=42445&type=1"></a> -->
<div class="title">Online</div>
<a href="http://playerstage.sourceforge.net">Homepage</a><br>
<a href="http://sourceforge.net/project/showfiles.php?group_id=42445">Download</a><br>
<a href="http://sourceforge.net/projects/playerstage">Project</a><br>
<a href="http://sourceforge.net/tracker/?group_id=42445">Bugs</a><br>
<a href="http://sourceforge.net/mail/?group_id=42445">Help</a>
</div>


</div>

<div id="content" >
<!-- Generated by Doxygen 1.7.1 -->
  <div class="navpath">
    <ul>
      <li><b>PlayerCc</b>      </li>
      <li><a class="el" href="classPlayerCc_1_1Position2dProxy.html">PlayerCc::Position2dProxy</a>      </li>
    </ul>
  </div>
<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pri-methods">Private Member Functions</a> &#124;
<a href="#pri-attribs">Private Attributes</a>  </div>
  <div class="headertitle">
<h1>PlayerCc::Position2dProxy Class Reference<br/>
<small>
[<a class="el" href="group__player__clientlib__cplusplus__proxies.html">Proxies</a>]</small>
</h1>  </div>
</div>
<div class="contents">
<!-- doxytag: class="PlayerCc::Position2dProxy" --><!-- doxytag: inherits="PlayerCc::ClientProxy" -->
<p>The <code><a class="el" href="classPlayerCc_1_1Position2dProxy.html" title="The Position2dProxy class is used to control a position2d device.">Position2dProxy</a></code> class is used to control a <a class="el" href="group__interface__position2d.html">position2d</a> device.  
<a href="#_details">More...</a></p>

<p><code>#include &lt;<a class="el" href="playerc_09_09_8h_source.html">playerc++.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for PlayerCc::Position2dProxy:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classPlayerCc_1_1Position2dProxy.png" usemap="#PlayerCc::Position2dProxy_map" alt=""/>
  <map id="PlayerCc::Position2dProxy_map" name="PlayerCc::Position2dProxy_map">
<area href="classPlayerCc_1_1ClientProxy.html" alt="PlayerCc::ClientProxy" shape="rect" coords="0,0,162,24"/>
</map>
</div>

<p><a href="classPlayerCc_1_1Position2dProxy-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac370587f9458c30bb21137869593deee"></a><!-- doxytag: member="PlayerCc::Position2dProxy::Position2dProxy" ref="ac370587f9458c30bb21137869593deee" args="(PlayerClient *aPc, uint32_t aIndex=0)" -->
&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#ac370587f9458c30bb21137869593deee">Position2dProxy</a> (<a class="el" href="classPlayerCc_1_1PlayerClient.html">PlayerClient</a> *aPc, uint32_t aIndex=0)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">constructor <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4bf829c50ce82ab932a48e61a5636aea"></a><!-- doxytag: member="PlayerCc::Position2dProxy::~Position2dProxy" ref="a4bf829c50ce82ab932a48e61a5636aea" args="()" -->
&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a4bf829c50ce82ab932a48e61a5636aea">~Position2dProxy</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">destructor <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a00d299f64e7fa2b3e83aa8034ce80ad6">SetSpeed</a> (double aXSpeed, double aYSpeed, double aYawSpeed)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Send a motor command for velocity control mode.  <a href="#a00d299f64e7fa2b3e83aa8034ce80ad6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a687738f88dbb2e08f0d0289940d0ab46">SetSpeed</a> (double aXSpeed, double aYawSpeed)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Same as the previous <a class="el" href="classPlayerCc_1_1Position2dProxy.html#a00d299f64e7fa2b3e83aa8034ce80ad6" title="Send a motor command for velocity control mode.">SetSpeed()</a>, but doesn't take the yspeed speed (so use this one for non-holonomic robots).  <a href="#a687738f88dbb2e08f0d0289940d0ab46"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af98c9c8ed667bf15588adb6df38ff8b2"></a><!-- doxytag: member="PlayerCc::Position2dProxy::SetSpeed" ref="af98c9c8ed667bf15588adb6df38ff8b2" args="(player_pose2d_t vel)" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#af98c9c8ed667bf15588adb6df38ff8b2">SetSpeed</a> (<a class="el" href="structplayer__pose2d.html">player_pose2d_t</a> vel)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Overloaded SetSpeed that takes player_pose2d_t as an argument. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#af51453538bbc36dfa566f61ab1576bde">SetVelHead</a> (double aXSpeed, double aYSpeed, double aYawHead)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Send a motor command for velocity/heading control mode.  <a href="#af51453538bbc36dfa566f61ab1576bde"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a4f0fffcd6a6552323e8572076015de02">SetVelHead</a> (double aXSpeed, double aYawHead)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Same as the previous <a class="el" href="classPlayerCc_1_1Position2dProxy.html#af51453538bbc36dfa566f61ab1576bde" title="Send a motor command for velocity/heading control mode.">SetVelHead()</a>, but doesn't take the yspeed speed (so use this one for non-holonomic robots).  <a href="#a4f0fffcd6a6552323e8572076015de02"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a2d84ba78b1077995c46bd37e35d0c481">GoTo</a> (<a class="el" href="structplayer__pose2d.html">player_pose2d_t</a> pos, <a class="el" href="structplayer__pose2d.html">player_pose2d_t</a> vel)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Send a motor command for position control mode.  <a href="#a2d84ba78b1077995c46bd37e35d0c481"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a405167afa74cb6ac20325302a6333e9a"></a><!-- doxytag: member="PlayerCc::Position2dProxy::GoTo" ref="a405167afa74cb6ac20325302a6333e9a" args="(player_pose2d_t pos)" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a405167afa74cb6ac20325302a6333e9a">GoTo</a> (<a class="el" href="structplayer__pose2d.html">player_pose2d_t</a> pos)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Same as the previous <a class="el" href="classPlayerCc_1_1Position2dProxy.html#a2d84ba78b1077995c46bd37e35d0c481" title="Send a motor command for position control mode.">GoTo()</a>, but doesn't take speed. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a88c746a64b2f8f441ebd89dcdf362018"></a><!-- doxytag: member="PlayerCc::Position2dProxy::GoTo" ref="a88c746a64b2f8f441ebd89dcdf362018" args="(double aX, double aY, double aYaw)" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a88c746a64b2f8f441ebd89dcdf362018">GoTo</a> (double aX, double aY, double aYaw)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Same as the previous <a class="el" href="classPlayerCc_1_1Position2dProxy.html#a2d84ba78b1077995c46bd37e35d0c481" title="Send a motor command for position control mode.">GoTo()</a>, but only takes position arguments, no motion speed setting. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a621d7bd3f2da3c9c9dc19b2ada47fe0e"></a><!-- doxytag: member="PlayerCc::Position2dProxy::SetCarlike" ref="a621d7bd3f2da3c9c9dc19b2ada47fe0e" args="(double aXSpeed, double aDriveAngle)" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a621d7bd3f2da3c9c9dc19b2ada47fe0e">SetCarlike</a> (double aXSpeed, double aDriveAngle)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Sets command for carlike robot. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a12fa91ddc7a193b443c593164bb367d4">RequestGeom</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the device's geometry; it is read into the relevant class attributes.  <a href="#a12fa91ddc7a193b443c593164bb367d4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae8d433ee7a4ebb7099d6dd91ee1d0ceb"></a><!-- doxytag: member="PlayerCc::Position2dProxy::GetOffset" ref="ae8d433ee7a4ebb7099d6dd91ee1d0ceb" args="()" -->
<a class="el" href="structplayer__pose3d.html">player_pose3d_t</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#ae8d433ee7a4ebb7099d6dd91ee1d0ceb">GetOffset</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Accessor for the robot's pose with respect to its. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a923bcecccf8f9c2d247edfcf15c50fa2"></a><!-- doxytag: member="PlayerCc::Position2dProxy::GetSize" ref="a923bcecccf8f9c2d247edfcf15c50fa2" args="()" -->
<a class="el" href="structplayer__bbox3d.html">player_bbox3d_t</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a923bcecccf8f9c2d247edfcf15c50fa2">GetSize</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Accessor for the size (fill it in by calling RequestGeom). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a319d8f265a83c916fb174a3ce892dc53">SetMotorEnable</a> (bool enable)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Enable/disable the motors.  <a href="#a319d8f265a83c916fb174a3ce892dc53"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a52cc89aecc5c587ad8f23bed13c554a2"></a><!-- doxytag: member="PlayerCc::Position2dProxy::ResetOdometry" ref="a52cc89aecc5c587ad8f23bed13c554a2" args="()" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a52cc89aecc5c587ad8f23bed13c554a2">ResetOdometry</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Reset odometry to (0,0,0). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a139e51e54b4b0a2ad77f2993b8faef72">SetOdometry</a> (double aX, double aY, double aYaw)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Select position mode Set <code>mode</code> for 0 for velocity mode, 1 for position mode.  <a href="#a139e51e54b4b0a2ad77f2993b8faef72"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#adf874103a6d767af65bd90fa9d640881">GetXPos</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set PID terms.  <a href="#adf874103a6d767af65bd90fa9d640881"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a162e8f905b0c93219e39b49a3de90630"></a><!-- doxytag: member="PlayerCc::Position2dProxy::GetYPos" ref="a162e8f905b0c93219e39b49a3de90630" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a162e8f905b0c93219e39b49a3de90630">GetYPos</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Accessor method. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a13b85c9555b1674d462173cb1fd93379"></a><!-- doxytag: member="PlayerCc::Position2dProxy::GetYaw" ref="a13b85c9555b1674d462173cb1fd93379" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a13b85c9555b1674d462173cb1fd93379">GetYaw</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Accessor method. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4e6e2e5f7037b68ec2f1293b7114880b"></a><!-- doxytag: member="PlayerCc::Position2dProxy::GetXSpeed" ref="a4e6e2e5f7037b68ec2f1293b7114880b" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a4e6e2e5f7037b68ec2f1293b7114880b">GetXSpeed</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Accessor method. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab8951448d66c3078db1cde299aabbaa2"></a><!-- doxytag: member="PlayerCc::Position2dProxy::GetYSpeed" ref="ab8951448d66c3078db1cde299aabbaa2" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#ab8951448d66c3078db1cde299aabbaa2">GetYSpeed</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Accessor method. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5791f246a0fa47ca6b66af6d7525fc19"></a><!-- doxytag: member="PlayerCc::Position2dProxy::GetYawSpeed" ref="a5791f246a0fa47ca6b66af6d7525fc19" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a5791f246a0fa47ca6b66af6d7525fc19">GetYawSpeed</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Accessor method. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9a2421d124da4d0709911132e895b3dd"></a><!-- doxytag: member="PlayerCc::Position2dProxy::GetStall" ref="a9a2421d124da4d0709911132e895b3dd" args="() const " -->
bool&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position2dProxy.html#a9a2421d124da4d0709911132e895b3dd">GetStall</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Accessor method. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-methods"></a>
Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af8804a82a133db059a35f1f00fe108d1"></a><!-- doxytag: member="PlayerCc::Position2dProxy::Subscribe" ref="af8804a82a133db059a35f1f00fe108d1" args="(uint32_t aIndex)" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><b>Subscribe</b> (uint32_t aIndex)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa0e6a74739617bdab0fedf376f9f0a7b"></a><!-- doxytag: member="PlayerCc::Position2dProxy::Unsubscribe" ref="aa0e6a74739617bdab0fedf376f9f0a7b" args="()" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><b>Unsubscribe</b> ()</td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3a92b6f5eb939ed92f55fd06a7e76bf2"></a><!-- doxytag: member="PlayerCc::Position2dProxy::mDevice" ref="a3a92b6f5eb939ed92f55fd06a7e76bf2" args="" -->
<a class="el" href="structplayerc__position2d__t.html">playerc_position2d_t</a> *&nbsp;</td><td class="memItemRight" valign="bottom"><b>mDevice</b></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>The <code><a class="el" href="classPlayerCc_1_1Position2dProxy.html" title="The Position2dProxy class is used to control a position2d device.">Position2dProxy</a></code> class is used to control a <a class="el" href="group__interface__position2d.html">position2d</a> device. </p>
<p>The latest position data is contained in the attributes xpos, ypos, etc. </p>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="adf874103a6d767af65bd90fa9d640881"></a><!-- doxytag: member="PlayerCc::Position2dProxy::GetXPos" ref="adf874103a6d767af65bd90fa9d640881" args="() const " -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">double PlayerCc::Position2dProxy::GetXPos </td>
          <td>(</td>
          <td class="paramname"></td>
          <td>&nbsp;)&nbsp;</td>
          <td> const<code> [inline]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Set PID terms. </p>
<p>Set PID terms Set speed ramping profile spd rad/s, acc rad/s/s Accessor method </p>

</div>
</div>
<a class="anchor" id="a2d84ba78b1077995c46bd37e35d0c481"></a><!-- doxytag: member="PlayerCc::Position2dProxy::GoTo" ref="a2d84ba78b1077995c46bd37e35d0c481" args="(player_pose2d_t pos, player_pose2d_t vel)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void PlayerCc::Position2dProxy::GoTo </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structplayer__pose2d.html">player_pose2d_t</a>&nbsp;</td>
          <td class="paramname"> <em>pos</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structplayer__pose2d.html">player_pose2d_t</a>&nbsp;</td>
          <td class="paramname"> <em>vel</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Send a motor command for position control mode. </p>
<p>Specify the desired pose of the robot as a player_pose_t. desired motion speed as a player_pose_t. </p>

</div>
</div>
<a class="anchor" id="a12fa91ddc7a193b443c593164bb367d4"></a><!-- doxytag: member="PlayerCc::Position2dProxy::RequestGeom" ref="a12fa91ddc7a193b443c593164bb367d4" args="()" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void PlayerCc::Position2dProxy::RequestGeom </td>
          <td>(</td>
          <td class="paramname"></td>
          <td>&nbsp;)&nbsp;</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Get the device's geometry; it is read into the relevant class attributes. </p>
<p>Call <a class="el" href="classPlayerCc_1_1Position2dProxy.html#ae8d433ee7a4ebb7099d6dd91ee1d0ceb" title="Accessor for the robot&#39;s pose with respect to its.">GetOffset()</a> to access this data. </p>

</div>
</div>
<a class="anchor" id="a319d8f265a83c916fb174a3ce892dc53"></a><!-- doxytag: member="PlayerCc::Position2dProxy::SetMotorEnable" ref="a319d8f265a83c916fb174a3ce892dc53" args="(bool enable)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void PlayerCc::Position2dProxy::SetMotorEnable </td>
          <td>(</td>
          <td class="paramtype">bool&nbsp;</td>
          <td class="paramname"> <em>enable</em></td>
          <td>&nbsp;)&nbsp;</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Enable/disable the motors. </p>
<p>Set <code>state</code> to 0 to disable or 1 to enable. Be VERY careful with this method! Your robot is likely to run across the room with the charger still attached. </p>

</div>
</div>
<a class="anchor" id="a139e51e54b4b0a2ad77f2993b8faef72"></a><!-- doxytag: member="PlayerCc::Position2dProxy::SetOdometry" ref="a139e51e54b4b0a2ad77f2993b8faef72" args="(double aX, double aY, double aYaw)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void PlayerCc::Position2dProxy::SetOdometry </td>
          <td>(</td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aX</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aY</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aYaw</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Select position mode Set <code>mode</code> for 0 for velocity mode, 1 for position mode. </p>
<p>Sets the odometry to the pose <code></code>(x, y, yaw). Note that <code>x</code> and <code>y</code> are in m and <code>yaw</code> is in radians. </p>

</div>
</div>
<a class="anchor" id="a687738f88dbb2e08f0d0289940d0ab46"></a><!-- doxytag: member="PlayerCc::Position2dProxy::SetSpeed" ref="a687738f88dbb2e08f0d0289940d0ab46" args="(double aXSpeed, double aYawSpeed)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void PlayerCc::Position2dProxy::SetSpeed </td>
          <td>(</td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aXSpeed</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aYawSpeed</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td><code> [inline]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Same as the previous <a class="el" href="classPlayerCc_1_1Position2dProxy.html#a00d299f64e7fa2b3e83aa8034ce80ad6" title="Send a motor command for velocity control mode.">SetSpeed()</a>, but doesn't take the yspeed speed (so use this one for non-holonomic robots). </p>

<p>References <a class="el" href="classPlayerCc_1_1Position2dProxy.html#a687738f88dbb2e08f0d0289940d0ab46">SetSpeed()</a>.</p>

<p>Referenced by <a class="el" href="classPlayerCc_1_1Position2dProxy.html#a687738f88dbb2e08f0d0289940d0ab46">SetSpeed()</a>.</p>

</div>
</div>
<a class="anchor" id="a00d299f64e7fa2b3e83aa8034ce80ad6"></a><!-- doxytag: member="PlayerCc::Position2dProxy::SetSpeed" ref="a00d299f64e7fa2b3e83aa8034ce80ad6" args="(double aXSpeed, double aYSpeed, double aYawSpeed)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void PlayerCc::Position2dProxy::SetSpeed </td>
          <td>(</td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aXSpeed</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aYSpeed</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aYawSpeed</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Send a motor command for velocity control mode. </p>
<p>Specify the forward, sideways, and angular speeds in m/sec, m/sec, and radians/sec, respectively. </p>

</div>
</div>
<a class="anchor" id="af51453538bbc36dfa566f61ab1576bde"></a><!-- doxytag: member="PlayerCc::Position2dProxy::SetVelHead" ref="af51453538bbc36dfa566f61ab1576bde" args="(double aXSpeed, double aYSpeed, double aYawHead)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void PlayerCc::Position2dProxy::SetVelHead </td>
          <td>(</td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aXSpeed</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aYSpeed</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aYawHead</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Send a motor command for velocity/heading control mode. </p>
<p>Specify the forward and sideways velocity (m/sec), and angular heading (rads). </p>

</div>
</div>
<a class="anchor" id="a4f0fffcd6a6552323e8572076015de02"></a><!-- doxytag: member="PlayerCc::Position2dProxy::SetVelHead" ref="a4f0fffcd6a6552323e8572076015de02" args="(double aXSpeed, double aYawHead)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void PlayerCc::Position2dProxy::SetVelHead </td>
          <td>(</td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aXSpeed</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aYawHead</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td><code> [inline]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Same as the previous <a class="el" href="classPlayerCc_1_1Position2dProxy.html#af51453538bbc36dfa566f61ab1576bde" title="Send a motor command for velocity/heading control mode.">SetVelHead()</a>, but doesn't take the yspeed speed (so use this one for non-holonomic robots). </p>

<p>References <a class="el" href="classPlayerCc_1_1Position2dProxy.html#a4f0fffcd6a6552323e8572076015de02">SetVelHead()</a>.</p>

<p>Referenced by <a class="el" href="classPlayerCc_1_1Position2dProxy.html#a4f0fffcd6a6552323e8572076015de02">SetVelHead()</a>.</p>

</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="playerc_09_09_8h_source.html">playerc++.h</a></li>
</ul>
</div>
<!-- render the modification time of the source file -->


<div class="timestamp">
<hr>

<table style="width:100%;">
<tr>
<td style="text-align:left;">
Last updated 12 September 2005 21:38:45
<!--
<td style="text-align:right;">
<a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px"
          src="http://www.w3.org/Icons/valid-html401"
          alt="Valid HTML 4.01!"></a>

 <a href="http://jigsaw.w3.org/css-validator/">
  <img style="vertical-align:middle;border:0;width:88px;height:31px"
       src="http://jigsaw.w3.org/css-validator/images/vcss"
       alt="Valid CSS!">
 </a>
-->
</tr>
</table>
</div>


</tr>
</table>

</BODY>
</HTML>

Perl :: Catalyst :: PostgreSQL :: RPM Valid HTML 4.01 Transitional