C++ (Cpp) ALPtr::getMotionProxy Examples

Example #1

File: HingeEncoders.cpp Project: AeroCano/JdeRobot

/*************************************************************
 * ANOTHER FUNCTIONS
 *************************************************************/
void HingeEncoders::init ( const std::string newName,
                         AL::ALPtr<AL::ALBroker> parentBroker ) {
    this->name = newName;
    
    try {
        this->motion = parentBroker->getMotionProxy();
    } catch ( AL::ALError& e ) {
		std::cerr << "[HingeEncoders ()::init(): " << e.toString() << std::endl;
	}
}

Example #2

File: Kick.cpp Project: abellagonzalo/go2012

void
Kick::init(const string newName, AL::ALPtr<AL::ALBroker> parentBroker)
{
	Component::init(newName, parentBroker);

	fin = false;

	try{
			pmotion = parentBroker->getMotionProxy();
	}catch( AL::ALError& e) {
		cerr << "[Kick ()::init(): " << e.toString() << endl;
	}


}

Example #3

File: RecorderSession.cpp Project: abellagonzalo/go2012

void
RecorderSession::init(const string newName, AL::ALPtr<AL::ALBroker> parentBroker)
{
	Component::init(newName, parentBroker);
	setFreqTime(SHORT_RATE);

	try
		{
			pmotion = parentBroker->getMotionProxy();
			lastpos = pmotion->getRobotPosition(USE_SENSOR);
		} catch (AL::ALError& e) {
			lastpos.push_back(0.0);
			lastpos.push_back(0.0);
			lastpos.push_back(0.0);
			lastpos.push_back(0.0);
			lastpos.push_back(0.0);
			lastpos.push_back(0.0);
			cerr << "Recorder::NEKFLocalization [motion]" << e.toString() << endl;
		}
	initts = lastts = getCurrentTime();
}

Example #4

File: EKFLocalization.cpp Project: abellagonzalo/go2012

void EKFLocalization::init(const string newName,
		AL::ALPtr<AL::ALBroker> parentBroker) {
	Component::init(newName, parentBroker);

	setFreqTime(MEDIUM_RATE);

	ekf.filter = new EKF_3D();

	MatrixCM sinit, Pinit;
	sinit.resize(3, 1);
	sinit.sete(0,0,0.0);
	sinit.sete(1,0,0.0);
	sinit.sete(2,0,0.0);

	Pinit.identity(3);
	Pinit.sete(0, 0, 3000.0*3000.0);
	Pinit.sete(1, 1, 2000.0*2000.0);
	Pinit.sete(2, 2, M_PI * M_PI);

	ekf.filter->restart(sinit, Pinit);

	mgrid = new MarkovGrid();

	try
	{
		pmotion = parentBroker->getMotionProxy();
		lastpos = pmotion->getRobotPosition(USE_SENSOR);
	} catch (AL::ALError& e) {
		lastpos.push_back(0.0);
		lastpos.push_back(0.0);
		lastpos.push_back(0.0);
		lastpos.push_back(0.0);
		lastpos.push_back(0.0);
		lastpos.push_back(0.0);
		cerr << "EKFLocalization::EKFLocalization [motion]" << e.toString() << endl;
	}

	// lastpos = pmotion->getRobotPosition(USE_SENSOR);
	//_MovementModel->initMovement();
}