player_kerl.cpp File Reference

Functions to control a robot in Player. More...

#include <stdlib.h>
#include <unistd.h>
#include <math.h>
#include <string.h>
#include <libplayerc/playerc.h>
#include "common_kerl.h"
#include "player_kerl.h"
#include <string>
#include <sstream>
#include <iostream>
#include <map>

Include dependency graph for player_kerl.cpp:


Functions
int	createRobot (char address, int port, int index, char robotID)
int	destroyRobot (char *robotID)
int	move (char *robotID, double speed, double rotation)
int	rotateDegrees (char *robotID, double degrees)
int	update (char *robotID)
int	getPosition (char robotID, double px, double py, double pa)
int	laserResultsSize (char robotID, int numberOfResults)
int	readLaserResults (char robotID, double laserResults, double laserBearings, int size)
int	moveCoordinate (char *robotID, double px, double py, double pa)
int	travelDistance (char *robotID, double distance)
int	queryRobot (char robotID, ClientQuery query)
PlayerClient *	_getClient (char *robotID)
Variables
map< string, PlayerClient * >	clients
	A map containing all our bots identifing them by their name.

Detailed Description

Functions to control a robot in Player.

Author:: Thomas Lorentsen, Sten Gruener

This holds the player side of the code. Provides functions to control a player robot This should not contain any erlang related code

Each robot will be contained in a map where there key is its name or robot identification. Using a name provides a more user friendly way of identifiying robots as a user could choose a name they wish to use.

Function Documentation

PlayerClient* _getClient ( char * robotID )

Parameters:

	robotID	an identification for the robot returns a client with this name
	robotID	an identification for the robot returns a client with this name returns null if client does not exist

int createRobot	(	char *	address,
		int	port,
		int	index,
		char *	robotID
	)

Parameters:

	address	the address player is listening on
	port	the port player is listening on
	index	is the internal playerstage id
	robotID	an identification for the robot

Returns:: 0 on success Use this to create a new robot connection. Once the robot has been created it can then be controlled with any other function. A robotID identifies the robot created so it can be controlled. It must be a unique id otherwise this function will return a none zero. Function will need to allocate memory needed and add the robot to a map of robots.

If needed this function will also initate devices so that they can be used

int destroyRobot ( char * robotID )

Parameters:

robotID

an identification for the robot

Returns:: 0 on success This will destroy the robot so it can no longer be controlled until it is recreated. Function will need to reallocate the memory used by the robot after it has been stopped.

int getPosition	(	char *	robotID,
		double *	px,
		double *	py,
		double *	pa
	)

Parameters:

	robotID	an identification for the robot
	px	the x position read
	py	the y position read
	pa	the angle read

Returns:: 0 if successfully set values Sets the values pass to the positions read from the odometer

int laserResultsSize	(	char *	robotID,
		int *	numberOfResults
	)

Parameters:

	robotID	an identification for the robot
	numberOfResults	sets this value to the number of lasers Simply sets the amount of lasers there are to read. This will need to be called before calling readLaserResults so you can allocate memory for lasers

int move	(	char *	robotID,
		double	speed,
		double	rotation
	)

Parameters:

	robotID	an identification for the robot
	speed	The speed the robot will move in m/s
	rotation	in rad/s

Returns:: 0 on success Tells the robot to move forward at a certain speed. To stop the robot moving forward pass 0 as the speed.

Parameters:

	robotID	an identification for the robot
	speed	The speed the robot will move in m/s
	rotation	in deg/s

Returns:: 0 on success Tells the robot to move forward at a certain speed. To stop the robot moving forward pass 0 as the speed.

int moveCoordinate	(	char *	robotID,
		double	px,
		double	py,
		double	pa
	)

Parameters:

	robotID	an identification for the robot
	px	the wished x position
	py	the wished y position
	pa	the wished angle in radiants

Moves robot to wished coordinates.

int queryRobot	(	char *	robotID,
		ClientQuery *	query
	)

Parameters:

	robotID	Robot identifier
	query	Query to run Runs a query on a robot and returns a tuple containing useful information about it.

Runs a query on a robot and returns a tuple containing useful information about it.

int readLaserResults	(	char *	robotID,
		double *	laserResults,
		double *	laserBearings,
		int *	size
	)

Parameters:

	robotID	an identification for the robot
	laserResults	the array to put laser results into
	laserBearings	the bearings of each laser
	size	the number of laser results to read, use laserResultsSize to find this value Sets both the laser result and the bearing Remember to allocate sizeof(double)*size in laserResults and laserBearings before passing them through

int rotateDegrees	(	char *	robotID,
		double	degrees
	)

Parameters:

	robotID	an identification for the robot
	degrees	the amount of degrees to rotate by Rotates the robot by this amount of degrees. This is relative to robot current position This function is none blocking so you will have to detect when the robot has stopped rotating.

int travelDistance	(	char *	robotID,
		double	distance
	)

Parameters:

	robotID	an identification for the robot
	distance	distance to go

Lets robot move in current direction for given distance.

int update ( char * robotID )

Parameters:

robotID

an identification for the robot

Returns:: 0 on success Notifies Player to update devices. This function is none blocking so you may not get updated results as soon as you read a device.

player_kerl.cpp File Reference

Functions

Variables

Detailed Description

Function Documentation