本文整理汇总了C++中ArRobot::findRangeDevice方法的典型用法代码示例。如果您正苦于以下问题：C++ ArRobot::findRangeDevice方法的具体用法？C++ ArRobot::findRangeDevice怎么用？C++ ArRobot::findRangeDevice使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类ArRobot的用法示例。
在下文中一共展示了ArRobot::findRangeDevice方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: drive
void Joydrive::drive(void)
{
int trans, rot;
ArPose pose;
ArPose rpose;
ArTransform transform;
ArRangeDevice *dev;
ArSensorReading *son;
if (!myRobot->isConnected())
{
printf("Lost connection to the robot, exiting\n");
exit(0);
}
printf("\rx %6.1f y %6.1f th %6.1f",
myRobot->getX(), myRobot->getY(), myRobot->getTh());
fflush(stdout);
if (myJoyHandler.haveJoystick() && myJoyHandler.getButton(1))
{
if (ArMath::fabs(myRobot->getVel()) < 10.0)
myRobot->comInt(ArCommands::ENABLE, 1);
myJoyHandler.getAdjusted(&rot, &trans);
myRobot->setVel(trans);
myRobot->setRotVel(-rot);
}
else
{
myRobot->setVel(0);
myRobot->setRotVel(0);
}
if (myJoyHandler.haveJoystick() && myJoyHandler.getButton(2) &&
time(NULL) - myLastPress > 1)
{
myLastPress = time(NULL);
printf("\n");
switch (myTest)
{
case 1:
printf("Moving back to the origin.\n");
pose.setPose(0, 0, 0);
myRobot->moveTo(pose);
break;
case 2:
printf("Moving over a meter.\n");
pose.setPose(myRobot->getX() + 1000, myRobot->getY(), 0);
myRobot->moveTo(pose);
break;
case 3:
printf("Doing a transform test....\n");
printf("\nOrigin should be transformed to the robots coords.\n");
transform = myRobot->getToGlobalTransform();
pose.setPose(0, 0, 0);
pose = transform.doTransform(pose);
rpose = myRobot->getPose();
printf("Pos: ");
pose.log();
printf("Robot: ");
rpose.log();
if (pose.findDistanceTo(rpose) < .1)
printf("Success\n");
else
printf("#### FAILURE\n");
printf("\nRobot coords should be transformed to the origin.\n");
transform = myRobot->getToLocalTransform();
pose = myRobot->getPose();
pose = transform.doTransform(pose);
rpose.setPose(0, 0, 0);
printf("Pos: ");
pose.log();
printf("Robot: ");
rpose.log();
if (pose.findDistanceTo(rpose) < .1)
printf("Success\n");
else
printf("#### FAILURE\n");
break;
case 4:
printf("Doing a tranform test...\n");
printf("A point 1 meter to the -x from the robot (in local coords) should be transformed into global coordinates.\n");
transform = myRobot->getToGlobalTransform();
pose.setPose(-1000, 0, 0);
pose = transform.doTransform(pose);
rpose = myRobot->getPose();
printf("Pos: ");
pose.log();
printf("Robot: ");
rpose.log();
if (ArMath::fabs(pose.findDistanceTo(rpose) - 1000.0) < .1)
printf("Probable Success\n");
else
printf("#### FAILURE\n");
break;
case 5:
printf("Doing a transform test on range devices..\n");
printf("Moving the robot +4 meters x and +4 meters y and seeing if the moveTo will move the sonar readings along with it.\n");
dev = myRobot->findRangeDevice("sonar");
if (dev == NULL)
//.........这里部分代码省略.........
示例2: setRobot
virtual void setRobot(ArRobot *robot) { ArAction::setRobot(robot); mysonar = robot->findRangeDevice("sonar"); }