Sophie

Sophie

distrib > Fedora > 14 > x86_64 > media > updates > by-pkgid > 727fa15453fcace956b835e2377d4269 > files > 291

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

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<!-- Generated by Doxygen 1.7.1 -->
  <div class="navpath">
    <ul>
      <li><b>PlayerCc</b>      </li>
      <li><a class="el" href="classPlayerCc_1_1Position3dProxy.html">PlayerCc::Position3dProxy</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::Position3dProxy 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::Position3dProxy" --><!-- doxytag: inherits="PlayerCc::ClientProxy" -->
<p>The <code><a class="el" href="classPlayerCc_1_1Position3dProxy.html" title="The Position3dProxy class is used to control a interface_position3d device.">Position3dProxy</a></code> class is used to control a interface_position3d 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::Position3dProxy:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classPlayerCc_1_1Position3dProxy.png" usemap="#PlayerCc::Position3dProxy_map" alt=""/>
  <map id="PlayerCc::Position3dProxy_map" name="PlayerCc::Position3dProxy_map">
<area href="classPlayerCc_1_1ClientProxy.html" alt="PlayerCc::ClientProxy" shape="rect" coords="0,0,162,24"/>
</map>
</div>

<p><a href="classPlayerCc_1_1Position3dProxy-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="a4a5cc294761bacf899677ed54965d2bd"></a><!-- doxytag: member="PlayerCc::Position3dProxy::Position3dProxy" ref="a4a5cc294761bacf899677ed54965d2bd" args="(PlayerClient *aPc, uint32_t aIndex=0)" -->
&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#a4a5cc294761bacf899677ed54965d2bd">Position3dProxy</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="aa1ec8d4d21fcd3695f01bd5da654d9cf"></a><!-- doxytag: member="PlayerCc::Position3dProxy::~Position3dProxy" ref="aa1ec8d4d21fcd3695f01bd5da654d9cf" args="()" -->
&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#aa1ec8d4d21fcd3695f01bd5da654d9cf">~Position3dProxy</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_1Position3dProxy.html#aa3da2aba841ab4a4d697abf482a5d9dd">SetSpeed</a> (double aXSpeed, double aYSpeed, double aZSpeed, double aRollSpeed, double aPitchSpeed, double aYawSpeed)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Send a motor command for a planar robot.  <a href="#aa3da2aba841ab4a4d697abf482a5d9dd"></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_1Position3dProxy.html#a12edd02131f090f5ff8bce377b2e3886">SetSpeed</a> (double aXSpeed, double aYSpeed, double aZSpeed, double aYawSpeed)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Send a motor command for a planar robot.  <a href="#a12edd02131f090f5ff8bce377b2e3886"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adb40fde76b61b5be21fb4df118666a50"></a><!-- doxytag: member="PlayerCc::Position3dProxy::SetSpeed" ref="adb40fde76b61b5be21fb4df118666a50" args="(double aXSpeed, double aYSpeed, double aYawSpeed)" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#adb40fde76b61b5be21fb4df118666a50">SetSpeed</a> (double aXSpeed, double aYSpeed, double aYawSpeed)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">simplified version of SetSpeed <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_1Position3dProxy.html#a7f6c1de188de3ae8c62f7a2635734872">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_1Position3dProxy.html#aa3da2aba841ab4a4d697abf482a5d9dd" title="Send a motor command for a planar robot.">SetSpeed()</a>, but doesn't take the sideways speed (so use this one for non-holonomic robots).  <a href="#a7f6c1de188de3ae8c62f7a2635734872"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5f9b521601bf0326384bf35cdb9e0eaa"></a><!-- doxytag: member="PlayerCc::Position3dProxy::SetSpeed" ref="a5f9b521601bf0326384bf35cdb9e0eaa" args="(player_pose3d_t vel)" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#a5f9b521601bf0326384bf35cdb9e0eaa">SetSpeed</a> (<a class="el" href="structplayer__pose3d.html">player_pose3d_t</a> vel)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Overloaded SetSpeed that takes player_pose3d_t as input. <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_1Position3dProxy.html#a55dbf9e32b52793fc84e3cdc0b3d4fcb">GoTo</a> (<a class="el" href="structplayer__pose3d.html">player_pose3d_t</a> aPos, <a class="el" href="structplayer__pose3d.html">player_pose3d_t</a> aVel)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Send a motor command for position control mode.  <a href="#a55dbf9e32b52793fc84e3cdc0b3d4fcb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab5a7aac01b5352c0dfb517c2f69ca31d"></a><!-- doxytag: member="PlayerCc::Position3dProxy::GoTo" ref="ab5a7aac01b5352c0dfb517c2f69ca31d" args="(player_pose3d_t aPos)" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#ab5a7aac01b5352c0dfb517c2f69ca31d">GoTo</a> (<a class="el" href="structplayer__pose3d.html">player_pose3d_t</a> aPos)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Same as the previous <a class="el" href="classPlayerCc_1_1Position3dProxy.html#a55dbf9e32b52793fc84e3cdc0b3d4fcb" title="Send a motor command for position control mode.">GoTo()</a>, but does'n take vel argument. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9b7f83d2e3b036a711040bc51e2782fe"></a><!-- doxytag: member="PlayerCc::Position3dProxy::GoTo" ref="a9b7f83d2e3b036a711040bc51e2782fe" args="(double aX, double aY, double aZ, double aRoll, double aPitch, double aYaw)" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#a9b7f83d2e3b036a711040bc51e2782fe">GoTo</a> (double aX, double aY, double aZ, double aRoll, double aPitch, double aYaw)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Same as the previous <a class="el" href="classPlayerCc_1_1Position3dProxy.html#a55dbf9e32b52793fc84e3cdc0b3d4fcb" 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">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#a7b436bbb90ff59f0ecbe93c7b098cec2">SetMotorEnable</a> (bool aEnable)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Enable/disable the motors.  <a href="#a7b436bbb90ff59f0ecbe93c7b098cec2"></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_1Position3dProxy.html#a0f9242390ad8b617bfe58b849681e6ec">SelectVelocityControl</a> (int aMode)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Select velocity control mode.  <a href="#a0f9242390ad8b617bfe58b849681e6ec"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a84229873bdbfa50db422990b0aa54905"></a><!-- doxytag: member="PlayerCc::Position3dProxy::ResetOdometry" ref="a84229873bdbfa50db422990b0aa54905" args="()" -->
void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#a84229873bdbfa50db422990b0aa54905">ResetOdometry</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Reset odometry to (0,0,0,0,0,0). <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_1Position3dProxy.html#a2326b3a58fa37feb0e43e084603414f3">SetOdometry</a> (double aX, double aY, double aZ, double aRoll, double aPitch, double aYaw)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Sets the odometry to the pose <code></code>(x, y, z, roll, pitch, yaw).  <a href="#a2326b3a58fa37feb0e43e084603414f3"></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_1Position3dProxy.html#a213caf437ea59281641b8b5c3be47bf7">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="#a213caf437ea59281641b8b5c3be47bf7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3daac428baa283672d8ae8d1297e3b4a"></a><!-- doxytag: member="PlayerCc::Position3dProxy::GetXPos" ref="a3daac428baa283672d8ae8d1297e3b4a" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#a3daac428baa283672d8ae8d1297e3b4a">GetXPos</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="a8ee641e92bf1740413ac88172824c65b"></a><!-- doxytag: member="PlayerCc::Position3dProxy::GetYPos" ref="a8ee641e92bf1740413ac88172824c65b" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#a8ee641e92bf1740413ac88172824c65b">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="aedd5d3a17e636ed9d869d3c949977cf0"></a><!-- doxytag: member="PlayerCc::Position3dProxy::GetZPos" ref="aedd5d3a17e636ed9d869d3c949977cf0" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#aedd5d3a17e636ed9d869d3c949977cf0">GetZPos</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="a6760c86b1c53637ccd58a28ecd3a821e"></a><!-- doxytag: member="PlayerCc::Position3dProxy::GetRoll" ref="a6760c86b1c53637ccd58a28ecd3a821e" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#a6760c86b1c53637ccd58a28ecd3a821e">GetRoll</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="a8697d07d789508d1884fefff87c66f84"></a><!-- doxytag: member="PlayerCc::Position3dProxy::GetPitch" ref="a8697d07d789508d1884fefff87c66f84" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#a8697d07d789508d1884fefff87c66f84">GetPitch</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="a59cc5e7255b0a6e8084f7aa584078205"></a><!-- doxytag: member="PlayerCc::Position3dProxy::GetYaw" ref="a59cc5e7255b0a6e8084f7aa584078205" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#a59cc5e7255b0a6e8084f7aa584078205">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="a5e904feab4ee81149952717a4092fbe6"></a><!-- doxytag: member="PlayerCc::Position3dProxy::GetXSpeed" ref="a5e904feab4ee81149952717a4092fbe6" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#a5e904feab4ee81149952717a4092fbe6">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="a6ff9d81f0a93532e21ec12197f19b057"></a><!-- doxytag: member="PlayerCc::Position3dProxy::GetYSpeed" ref="a6ff9d81f0a93532e21ec12197f19b057" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#a6ff9d81f0a93532e21ec12197f19b057">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="a5581fbc5f5c27fefe42940823172f652"></a><!-- doxytag: member="PlayerCc::Position3dProxy::GetZSpeed" ref="a5581fbc5f5c27fefe42940823172f652" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#a5581fbc5f5c27fefe42940823172f652">GetZSpeed</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="a160ce2b77728a55a4d0488fbfe716ce1"></a><!-- doxytag: member="PlayerCc::Position3dProxy::GetRollSpeed" ref="a160ce2b77728a55a4d0488fbfe716ce1" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#a160ce2b77728a55a4d0488fbfe716ce1">GetRollSpeed</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="ad52a9c6e17564ae79d953b5d119070cf"></a><!-- doxytag: member="PlayerCc::Position3dProxy::GetPitchSpeed" ref="ad52a9c6e17564ae79d953b5d119070cf" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#ad52a9c6e17564ae79d953b5d119070cf">GetPitchSpeed</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="a27c7d7c50dd79f6c40849043f6a677f1"></a><!-- doxytag: member="PlayerCc::Position3dProxy::GetYawSpeed" ref="a27c7d7c50dd79f6c40849043f6a677f1" args="() const " -->
double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#a27c7d7c50dd79f6c40849043f6a677f1">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="a9dd574c2dc135a2a5b832c1c36c35816"></a><!-- doxytag: member="PlayerCc::Position3dProxy::GetStall" ref="a9dd574c2dc135a2a5b832c1c36c35816" args="() const " -->
bool&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPlayerCc_1_1Position3dProxy.html#a9dd574c2dc135a2a5b832c1c36c35816">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="a5b2cf4b6d8cd9db85d883e2a025ff7ab"></a><!-- doxytag: member="PlayerCc::Position3dProxy::Subscribe" ref="a5b2cf4b6d8cd9db85d883e2a025ff7ab" 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="af491ddcad906b56561344f6a674d322b"></a><!-- doxytag: member="PlayerCc::Position3dProxy::Unsubscribe" ref="af491ddcad906b56561344f6a674d322b" 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="a90b5519204a5f6fddcecfd11b4adbdb3"></a><!-- doxytag: member="PlayerCc::Position3dProxy::mDevice" ref="a90b5519204a5f6fddcecfd11b4adbdb3" args="" -->
<a class="el" href="structplayerc__position3d__t.html">playerc_position3d_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_1Position3dProxy.html" title="The Position3dProxy class is used to control a interface_position3d device.">Position3dProxy</a></code> class is used to control a interface_position3d 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="a55dbf9e32b52793fc84e3cdc0b3d4fcb"></a><!-- doxytag: member="PlayerCc::Position3dProxy::GoTo" ref="a55dbf9e32b52793fc84e3cdc0b3d4fcb" args="(player_pose3d_t aPos, player_pose3d_t aVel)" -->
<div class="memitem">
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        <tr>
          <td class="memname">void PlayerCc::Position3dProxy::GoTo </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structplayer__pose3d.html">player_pose3d_t</a>&nbsp;</td>
          <td class="paramname"> <em>aPos</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structplayer__pose3d.html">player_pose3d_t</a>&nbsp;</td>
          <td class="paramname"> <em>aVel</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td></td>
        </tr>
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<div class="memdoc">

<p>Send a motor command for position control mode. </p>
<p>Specify the desired pose of the robot as a player_pose3d_t structure desired motion speed as a player_pose3d_t structure </p>

</div>
</div>
<a class="anchor" id="a213caf437ea59281641b8b5c3be47bf7"></a><!-- doxytag: member="PlayerCc::Position3dProxy::RequestGeom" ref="a213caf437ea59281641b8b5c3be47bf7" args="()" -->
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          <td class="memname">void PlayerCc::Position3dProxy::RequestGeom </td>
          <td>(</td>
          <td class="paramname"></td>
          <td>&nbsp;)&nbsp;</td>
          <td></td>
        </tr>
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<div class="memdoc">

<p>Get the device's geometry; it is read into the relevant class attributes. </p>

</div>
</div>
<a class="anchor" id="a0f9242390ad8b617bfe58b849681e6ec"></a><!-- doxytag: member="PlayerCc::Position3dProxy::SelectVelocityControl" ref="a0f9242390ad8b617bfe58b849681e6ec" args="(int aMode)" -->
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          <td class="memname">void PlayerCc::Position3dProxy::SelectVelocityControl </td>
          <td>(</td>
          <td class="paramtype">int&nbsp;</td>
          <td class="paramname"> <em>aMode</em></td>
          <td>&nbsp;)&nbsp;</td>
          <td></td>
        </tr>
      </table>
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<div class="memdoc">

<p>Select velocity control mode. </p>
<p>This is driver dependent. </p>

</div>
</div>
<a class="anchor" id="a7b436bbb90ff59f0ecbe93c7b098cec2"></a><!-- doxytag: member="PlayerCc::Position3dProxy::SetMotorEnable" ref="a7b436bbb90ff59f0ecbe93c7b098cec2" args="(bool aEnable)" -->
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          <td class="memname">void PlayerCc::Position3dProxy::SetMotorEnable </td>
          <td>(</td>
          <td class="paramtype">bool&nbsp;</td>
          <td class="paramname"> <em>aEnable</em></td>
          <td>&nbsp;)&nbsp;</td>
          <td></td>
        </tr>
      </table>
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<div class="memdoc">

<p>Enable/disable the motors. </p>
<p>Set <code>state</code> to 0 to disable or 1 to enable. </p>
<dl class="attention"><dt><b>Attention:</b></dt><dd>Be VERY careful with this method! Your robot is likely to run across the room with the charger still attached. </dd></dl>

</div>
</div>
<a class="anchor" id="a2326b3a58fa37feb0e43e084603414f3"></a><!-- doxytag: member="PlayerCc::Position3dProxy::SetOdometry" ref="a2326b3a58fa37feb0e43e084603414f3" args="(double aX, double aY, double aZ, double aRoll, double aPitch, double aYaw)" -->
<div class="memitem">
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          <td class="memname">void PlayerCc::Position3dProxy::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>aZ</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aRoll</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aPitch</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>
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          <td></td>
          <td>)</td>
          <td></td><td></td><td></td>
        </tr>
      </table>
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<div class="memdoc">

<p>Sets the odometry to the pose <code></code>(x, y, z, roll, pitch, yaw). </p>
<p>Note that <code>x</code>, <code>y</code>, and <code>z</code> are in m and <code>roll</code>, <code>pitch</code>, and <code>yaw</code> are in radians. </p>

</div>
</div>
<a class="anchor" id="a12edd02131f090f5ff8bce377b2e3886"></a><!-- doxytag: member="PlayerCc::Position3dProxy::SetSpeed" ref="a12edd02131f090f5ff8bce377b2e3886" args="(double aXSpeed, double aYSpeed, double aZSpeed, double aYawSpeed)" -->
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          <td class="memname">void PlayerCc::Position3dProxy::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>aZSpeed</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>
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<div class="memdoc">

<p>Send a motor command for a planar robot. </p>
<p>Specify the forward, sideways, and angular speeds in m/s, m/s, and rad/s, respectively. </p>

<p>References <a class="el" href="classPlayerCc_1_1Position3dProxy.html#a12edd02131f090f5ff8bce377b2e3886">SetSpeed()</a>.</p>

<p>Referenced by <a class="el" href="classPlayerCc_1_1Position3dProxy.html#a12edd02131f090f5ff8bce377b2e3886">SetSpeed()</a>.</p>

</div>
</div>
<a class="anchor" id="aa3da2aba841ab4a4d697abf482a5d9dd"></a><!-- doxytag: member="PlayerCc::Position3dProxy::SetSpeed" ref="aa3da2aba841ab4a4d697abf482a5d9dd" args="(double aXSpeed, double aYSpeed, double aZSpeed, double aRollSpeed, double aPitchSpeed, double aYawSpeed)" -->
<div class="memitem">
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          <td class="memname">void PlayerCc::Position3dProxy::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>aZSpeed</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aRollSpeed</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>aPitchSpeed</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>
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<div class="memdoc">

<p>Send a motor command for a planar robot. </p>
<p>Specify the forward, sideways, and angular speeds in m/s, m/s, m/s, rad/s, rad/s, and rad/s, respectively. </p>

</div>
</div>
<a class="anchor" id="a7f6c1de188de3ae8c62f7a2635734872"></a><!-- doxytag: member="PlayerCc::Position3dProxy::SetSpeed" ref="a7f6c1de188de3ae8c62f7a2635734872" args="(double aXSpeed, double aYawSpeed)" -->
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          <td class="memname">void PlayerCc::Position3dProxy::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>
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<div class="memdoc">

<p>Same as the previous <a class="el" href="classPlayerCc_1_1Position3dProxy.html#aa3da2aba841ab4a4d697abf482a5d9dd" title="Send a motor command for a planar robot.">SetSpeed()</a>, but doesn't take the sideways speed (so use this one for non-holonomic robots). </p>

<p>References <a class="el" href="classPlayerCc_1_1Position3dProxy.html#a7f6c1de188de3ae8c62f7a2635734872">SetSpeed()</a>.</p>

<p>Referenced by <a class="el" href="classPlayerCc_1_1Position3dProxy.html#a7f6c1de188de3ae8c62f7a2635734872">SetSpeed()</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>
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Last updated 12 September 2005 21:38:45
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