armarx::PlatformUnitInterface
Overview
Implements an interface to an PlatformUnit.
Derived Classes and Interfaces
- PlatformSubUnitInterface
- PlatformUnitDynamicSimulationInterface
Operation Index
- moveTo
-
moveTo moves the platform to a global pose specified by:
@param targetPlatformPositionX Global x-coordinate of target position.
- move
-
move moves the platform with given velocities.
- moveRelative
-
moveRelative moves to a pose defined in platform coordinates.
- setMaxVelocities
-
setMaxVelocities allows to specify max velocities in translation and orientation.
- stopPlatform
-
stopPlatform stops the movements of the platform.
Operations
void moveTo(float targetPlatformPositionX, float targetPlatformPositionY, float targetPlatformRotation, float positionalAccuracy, float orientationalAccuracy)
moveTo moves the platform to a global pose specified by:
Parameters
- targetPlatformPositionX
-
Global x-coordinate of target position.
- targetPlatformPositionY
-
Global y-coordinate of target position.
- targetPlatformRotation
-
Global orientation of platform, mostly yaw angle (rotation around z-axis).
- postionalAccuracy
-
Platform stops translating if distance to target position gets lower than this threshhold.
- orientationalAccuracy
-
Platform stops rotating if distance from current to target orientation gets lower than this threshhold.
void move(float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation)
move moves the platform with given velocities.
Parameters
- targetPlatformVelocityX
-
x-coordinate of target velocity defined in platform root.
- targetPlatformVelocityY
-
y-coordinate of target velocity defined in platform root.
- targetPlatformVelocityRotation
-
Target orientational velocity defined in platform root.
void moveRelative(float targetPlatformOffsetX, float targetPlatformOffsetY, float targetPlatformOffsetRotation, float positionalAccuracy, float orientationalAccuracy)
moveRelative moves to a pose defined in platform coordinates.
Parameters
- targetPlatformOffsetX
-
x-coordinate of target position defined in platform root.
- targetPlatformOffsetY
-
y-coordinate of target position defined in platform root.
- targetPlatformOffsetRotation
-
Target orientation of platform defined in platform root.
- postionalAccuracy
-
Platform stops translating if distance to target position gets lower than this threshhold.
- orientationalAccuracy
-
Platform stops rotating if distance from current to target orientation gets lower than this threshhold.
void setMaxVelocities(float positionalVelocity, float orientationalVelocity)
setMaxVelocities allows to specify max velocities in translation and orientation.
Parameters
- positionalVelocity
-
Max translation velocity.
- orientationalVelocity
-
Max orientational velocity.
void stopPlatform()
stopPlatform stops the movements of the platform.