?? robotaction.cpp
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#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. *********************************************************************/?? 快捷鍵說明
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