Sophie

Sophie

distrib > Fedora > 14 > x86_64 > media > updates > by-pkgid > 727fa15453fcace956b835e2377d4269 > files > 528

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="header">
  <div class="headertitle">
<h1>libplayerc++ example<br/>
<small>
[<a class="el" href="group__player__clientlib__cplusplus.html">libplayerc++</a>]</small>
</h1>  </div>
</div>
<div class="contents">

<p>An example of using libplayerc++.  
<a href="#_details">More...</a></p>
<table class="memberdecls">
</table>
<p>An example of using libplayerc++. </p>
<p>The C++ library is built on a "service proxy" model in which the client maintains local objects that are proxies for remote services. There are two kinds of proxies: the special server proxy PlayerClient and the various device-specific proxies. Each kind of proxy is implemented as a separate class. The user first creates a PlayerClient proxy and uses it to establish a connection to a Player server. Next, the proxies of the appropriate device-specific types are created and initialized using the existing PlayerClient proxy. To make this process concrete, consider the following simple example (for clarity, we omit some error-checking):</p>
<div class="fragment"><pre class="fragment"><span class="comment">/*</span>
<span class="comment">Copyright (c) 2005, Brad Kratochvil, Toby Collett, Brian Gerkey, Andrew Howard, ...</span>
<span class="comment">All rights reserved.</span>
<span class="comment"></span>
<span class="comment">Redistribution and use in source and binary forms, with or without</span>
<span class="comment">modification, are permitted provided that the following conditions are met:</span>
<span class="comment"></span>
<span class="comment">    * Redistributions of source code must retain the above copyright notice,</span>
<span class="comment">      this list of conditions and the following disclaimer.</span>
<span class="comment">    * Redistributions in binary form must reproduce the above copyright notice,</span>
<span class="comment">      this list of conditions and the following disclaimer in the documentation</span>
<span class="comment">      and/or other materials provided with the distribution.</span>
<span class="comment">    * Neither the name of the Player Project nor the names of its contributors</span>
<span class="comment">      may be used to endorse or promote products derived from this software</span>
<span class="comment">      without specific prior written permission.</span>
<span class="comment"></span>
<span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span>
<span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span>
<span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span>
<span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR</span>
<span class="comment">ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span>
<span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON</span>
<span class="comment">ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span>
<span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span>
<span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span>
<span class="comment">*/</span>

<span class="preprocessor">#include &lt;iostream&gt;</span>
<span class="preprocessor">#include &lt;libplayerc++/playerc++.h&gt;</span>

<span class="keywordtype">int</span>
main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> *argv[])
{
  <span class="keyword">using namespace </span>PlayerCc;

  PlayerClient    robot(<span class="stringliteral">&quot;localhost&quot;</span>);
  SonarProxy      sp(&amp;robot,0);
  Position2dProxy pp(&amp;robot,0);

  <span class="keywordflow">for</span>(;;)
  {
    <span class="keywordtype">double</span> turnrate, speed;

    <span class="comment">// read from the proxies</span>
    robot.Read();

    <span class="comment">// print out sonars for fun</span>
    std::cout &lt;&lt; sp &lt;&lt; std::endl;

    <span class="comment">// do simple collision avoidance</span>
    <span class="keywordflow">if</span>((sp[0] + sp[1]) &lt; (sp[6] + sp[7]))
      turnrate = <a class="code" href="group__player__clientlib__utility.html#ga7a56c56e7c12a45bfab1b86df9edfdc1" title="Convert degrees to radians.">dtor</a>(-20); <span class="comment">// turn 20 degrees per second</span>
    <span class="keywordflow">else</span>
      turnrate = <a class="code" href="group__player__clientlib__utility.html#ga7a56c56e7c12a45bfab1b86df9edfdc1" title="Convert degrees to radians.">dtor</a>(20);

    <span class="keywordflow">if</span>(sp[3] &lt; 0.500)
      speed = 0;
    <span class="keywordflow">else</span>
      speed = 0.100;

    <span class="comment">// command the motors</span>
    pp.SetSpeed(speed, turnrate);
  }
}

</pre></div><p>Compile this program like so: </p>
<div class="fragment"><pre class="fragment">
$ g++ -o example0 `pkg-config --cflags playerc++` example0.cc `pkg-config --libs playerc++`
</pre></div><p>Be sure that libplayerc++ is installed somewhere that pkg-config can find it.</p>
<p>This program performs simple (and bad) sonar-based obstacle avoidance with a mobile robot . First, a PlayerClient proxy is created, using the default constructor to connect to the server listening at <code>localhost:6665</code>. Next, a SonarProxy is created to control the sonars and a PositionProxy to control the robot's motors. The constructors for these objects use the existing PlayerClient proxy to establish access to the 0th <a class="el" href="group__interface__sonar.html">sonar</a> and <a class="el" href="group__interface__position2d.html">position2d</a> devices, respectively. Finally, we enter a simple loop that reads the current sonar state and writes appropriate commands to the motors.</p>
<h2><a class="anchor" id="Using"></a>
automake</h2>
<p>An Automake package config file is included(playerc++.pc). To use this in your automake project, simply add the following to your configure.in or configure.ac:</p>
<div class="fragment"><pre class="fragment">
# Player C++ Library
PKG_CHECK_MODULES(PLAYERCC, playerc++)
AC_SUBST(PLAYERCC_CFLAGS)
AC_SUBST(PLAYERCC_LIBS)
</pre></div><p>Then, in your Makefile.am you can add: </p>
<div class="fragment"><pre class="fragment">
AM_CPPFLAGS += $(PLAYERCC_CFLAGS)
programname_LDFLAGS = $(PLAYERCC_LIBS)
</pre></div> </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