C++ (Cpp) CVelocity2d Examples

Example #1

File: cbrobot.cpp Project: jacobperron/autolab-rapi

//-----------------------------------------------------------------------------
void CCBRobot::quit()
{
  if ( mCBDrivetrain )
    mCBDrivetrain->stop();

  mCBDriver->setSpeed(CVelocity2d(0,0,0));
  mFgRunning = false;
}

Example #2

File: stagedrivetrain2dof.cpp Project: AutonomyLab/autolab-rapi

//-----------------------------------------------------------------------------
CStageDrivetrain2dof::CStageDrivetrain2dof ( Stg::ModelPosition* stgModel,
    std::string devName )
    : ADrivetrain2dof ( devName )
{
  assert ( stgModel );
  mStgPosition = stgModel;
  mFgEnabled = false;
  mStgPosition->GetWorld()->AddUpdateCallback ( ( Stg::stg_world_callback_t )
                                    positionUpdate,
                                    this );
  mOdometry = new CStageOdometry ( mStgPosition, devName + ":odometry" );
  assert ( mOdometry );

  // velocity limits
  mUpperVelocityLimit = CVelocity2d( 1.0, 0.0,  D2R(60.0) );
  mLowerVelocityLimit = CVelocity2d(-1.0, 0.0, -D2R(60.0) );

  // acceleration limits
  mTransAccelLimit.setLimit(-1.0, 1.0);
  mRotatAccelLimit.setLimit(-D2R(30.0), D2R(30.0));

  setEnabled ( true );
}