119 lines
2.9 KiB
C++
119 lines
2.9 KiB
C++
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#include "Aria.h"
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int main(void)
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{
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ArInterpolation interp;
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ArTime t;
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ArPose p;
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int i;
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int result;
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for (i = 1; i <= 6; i++)
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{
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t.setMSec(i*100);
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p.setPose(i*100, i*100, (i - 1)*60);
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interp.addReading(t, p);
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}
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t.setMSec(250);
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result = interp.getPose(t, &p);
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printf("Result of 250 %d\n\n", result);
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if (result)
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p.log();
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t.setMSec(366);
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result = interp.getPose(t, &p);
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printf("\nResult of 366 %d\n", result);
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if (result == 1)
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p.log();
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t.setMSec(455);
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result = interp.getPose(t, &p);
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printf("\nResult of 455 %d\n", result);
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if (result == 1)
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p.log();
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t.setMSec(580);
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result = interp.getPose(t, &p);
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printf("\nResult of 580 %d\n", result);
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if (result == 1)
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p.log();
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t.setMSec(750);
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result = interp.getPose(t, &p);
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printf("\nResult of 750 %d\n", result);
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if (result == 1)
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p.log();
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t.setMSec(599);
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result = interp.getPose(t, &p);
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printf("\nResult of 599 %d\n", result);
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if (result == 1)
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p.log();
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t.setMSec(600);
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result = interp.getPose(t, &p);
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printf("\nResult of 600 %d\n", result);
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if (result == 1)
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p.log();
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t.setMSec(601);
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result = interp.getPose(t, &p);
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printf("\nResult of 601 %d\n", result);
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if (result == 1)
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p.log();
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t.setMSec(50);
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result = interp.getPose(t, &p);
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printf("\nResult of 50 %d\n", result);
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if (result == 1)
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p.log();
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t.setMSec(99);
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result = interp.getPose(t, &p);
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printf("\nResult of 99 %d\n", result);
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if (result == 1)
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p.log();
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t.setMSec(100);
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result = interp.getPose(t, &p);
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printf("\nResult of 100 %d\n", result);
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if (result == 1)
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p.log();
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t.setMSec(101);
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result = interp.getPose(t, &p);
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printf("\nResult of 101 %d\n", result);
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if (result == 1)
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p.log();
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}
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