robotaction.cpp

一个简单使用的控制器

#include <iostream>
#include <iomanip>

#include "RobotAction.h"
#include "OdometryState.h"
#include "msg_types.h"
#include "ipc/ipc.h"
#include "util/timeutil.h"
#include "util/robotId.h"
#include "com/ipc_com.h"


RobotAction::RobotAction(bool useKalmanPoses)
{
   odometry = OdometryState::getSingleton(useKalmanPoses);
}


RobotAction::~RobotAction()
{
}


void RobotAction::setVelocity(int tv, int rv)
{
   rescue_velocity_message msg;
   msg.transVel = tv;
   msg.rotVel = rv;
   msg.robot.id = getRobotId();
   msg.robot.ts = getCurrentTime();
   ComPublishToRobot(RESCUE_VELOCITY_NAME, &msg);
}


void RobotAction::setMotorStop()
{
   rescue_motor_message msg;
   msg.motorCommand=2;
   msg.robot.id = getRobotId();
   msg.robot.ts = getCurrentTime();
   ComPublishToRobot(RESCUE_MOTOR_NAME, &msg);
}


void RobotAction::setMotorOff()
{
   rescue_motor_message msg;
   msg.motorCommand=0;
   msg.robot.id = getRobotId();
   msg.robot.ts = getCurrentTime();
   ComPublishToRobot(RESCUE_MOTOR_NAME, &msg);
}


void RobotAction::setMotorOn()
{
   rescue_motor_message msg;
   msg.motorCommand=1;
   msg.robot.id = getRobotId();
   msg.robot.ts = getCurrentTime();
   ComPublishToRobot(RESCUE_MOTOR_NAME, &msg);
}

/*********************************************************************
 * (C) Copyright 2006 Albert Ludwigs University Freiburg
 *     Institute of Computer Science
 *
 * All rights reserved. Use of this software is permitted for
 * non-commercial research purposes, and it may be copied only
 * for that use. All copies must include this copyright message.
 * This software is made available AS IS, and neither the authors
 * nor the Albert Ludwigs University Freiburg make any warranty
 * about the software or its performance.
 *********************************************************************/