Exemplo n.º 1
0
static void pick_random_place(void)
{
  carmen_map_point_t map_pt;
  carmen_world_point_t world_pt;
  map_pt.map = c_space;

  do {
    map_pt.x = carmen_uniform_random(0, c_space->config.x_size);
    map_pt.y = carmen_uniform_random(0, c_space->config.y_size);
  } while (c_space->map[map_pt.x][map_pt.y] < 0);

  carmen_map_to_world(&map_pt, &world_pt);
  carmen_navigator_set_goal(world_pt.pose.x, world_pt.pose.y);
  carmen_navigator_go();
  up_to_speed = 0;
}
Exemplo n.º 2
0
void navigator_set_goal(double x, double y) 
{
  carmen_verbose("Set goal to %.1f %.1f\n", x, y);
  carmen_navigator_set_goal(x, y);
}
Exemplo n.º 3
0
void Carmen_Thread::set_goal_position(carmen_point_t goal) {
    carmen_rrt_planner_set_goal(goal);
    carmen_navigator_ackerman_set_goal(goal.x, goal.y, goal.theta);
    carmen_navigator_set_goal(goal.x, goal.y);
}