?? omnipositiondevice.hh
字號:
/////////////////////////////////////////////////////////////////////////////// File: omniposition.hh// Author: Andrew Howard// Date: 19 Oct 2001// Desc: Simulates an omni-robot//// CVS info:// $Source: /cvsroot/playerstage/code/stage/src/models/Attic/omnipositiondevice.hh,v $// $Author: gerkey $// $Revision: 1.2.4.1 $//// Usage:// (empty)//// Theory of operation:// (empty)//// Known bugs:// (empty)//// Possible enhancements:// (empty)/////////////////////////////////////////////////////////////////////////////#ifndef OMNIPOSITIONDEVICE_H#define OMNIPOSITIONDEVICE_H#include "stage1p3.h"#include "playerdevice.hh"class COmniPositionDevice : public CPlayerEntity{ // Minimal constructor public: COmniPositionDevice( LibraryItem *libit, CWorld *world, CEntity *parent); // a static named constructor - a pointer to this function is given // to the Library object and paired with a string. When the string // is seen in the worldfile, this function is called to create an // instance of this entitypublic: static COmniPositionDevice* Creator( LibraryItem *libit, CWorld *world, CEntity *parent ) { return( new COmniPositionDevice( libit, world, parent ) ); } // Startup routine public: virtual bool Startup(); // Update the device public: virtual void Update( double sim_time ); // Move the device private: void Move(); // Extract command from the command buffer private: void ParseCommandBuffer( void ); // Compose the reply packet private: void ComposeData( void ); // Timings private: double last_time; // Current command and data buffers private: player_position_cmd_t command; private: player_position_data_t data; // Commanded velocities private: double com_vx, com_vy, com_va; // Stall flag -- set if robot is stalled private: int stall; // Current odometry values private: double odo_px, odo_py, odo_pa;};#endif
?? 快捷鍵說明
復制代碼
Ctrl + C
搜索代碼
Ctrl + F
全屏模式
F11
切換主題
Ctrl + Shift + D
顯示快捷鍵
?
增大字號
Ctrl + =
減小字號
Ctrl + -