91 lines
2.7 KiB
C++
91 lines
2.7 KiB
C++
/*
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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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/* Tests SIM_SET_POSE command to move the robot in the simulator. */
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#include "Aria.h"
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void simSetPose(ArRobot *robot, const ArPose& pose)
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{
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ArRobotPacket pkt;
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pkt.setID(ArCommands::SIM_SET_POSE);
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pkt.uByteToBuf(0);
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pkt.byte4ToBuf((ArTypes::Byte4)pose.getX());
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pkt.byte4ToBuf((ArTypes::Byte4)pose.getY());
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pkt.byte4ToBuf((ArTypes::Byte4)pose.getTh());
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pkt.finalizePacket();
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printf("-> SIM_SET_POSE %d %d %d\n", (ArTypes::Byte4)pose.getX(), (ArTypes::Byte4)pose.getY(), (ArTypes::Byte4)pose.getTh());
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robot->getDeviceConnection()->write(pkt.getBuf(), pkt.getLength());
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printf("Command sent.\n\n");
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}
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int main(int argc, char **argv)
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{
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Aria::init();
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ArArgumentParser parser(&argc, argv);
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ArSimpleConnector connector(&parser);
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ArRobot robot;
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if (!connector.parseArgs())
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{
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connector.logOptions();
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return 1;
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}
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if (!connector.connectRobot(&robot))
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{
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printf("Could not connect to robot... exiting\n");
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return 2;
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}
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printf("Connected to robot.\n");
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robot.runAsync(true);
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simSetPose(&robot, ArPose(1000, 1000, 90));
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ArUtil::sleep(500);
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simSetPose(&robot, ArPose(1000, -2000, -90));
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ArUtil::sleep(500);
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simSetPose(&robot, ArPose(0, -2000, 180));
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ArUtil::sleep(500);
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simSetPose(&robot, ArPose(8000, 1, 0));
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ArUtil::sleep(500);
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simSetPose(&robot, ArPose(-8000, -1000, 45));
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ArUtil::sleep(500);
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printf("** Done with tests. Sleeping for 3 seconds and then stopping ArRobot thread... **\n");
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ArUtil::sleep(3000);
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robot.stopRunning();
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printf("** Exiting. **\n");
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return 0;
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}
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