Versions Compared

Key

  • This line was added.
  • This line was removed.
  • Formatting was changed.


Excerpt

This document introduces the demo project of "artifacts_demo", explaining user operation of Virtual Wall/Virtual Track, including how to add/delete/modify artifacts.



Content

Table of Contents


IDE Preparation 

  • Software

    • Visual Studio 2010  SP1
    • Slamware Windows SDK:Slamware Windows SDK
    • RoboStudio(for map display):Robostudio installer 
    • Sample Code: 


      Info

      Higher version of Visual Studio will cause errors. sometime you will need to upgrade SP1 package to make your VS compatable with .Net Framework.


  • Hardware

          (Either one of following)

    • Slamware SDP mini 
    • Slamware SDP
    • Slamware Kit 
    • Zeus/Apollo robot base

Download

Win32-Demo

Compiling

  1. Right click on "artifacts_demo" project, set as StartUp project.


  2. Right click on "artifacts_demo", then " Properties",configure "include" and "lib" directories to the corresponding folder path of Slamware SDK.

    Info

    It's not necessary to copy files to the project directory, user will only need to configure the folder path of SDK.




  3. Right click on "artifacts_demo", then "properties",set "Command Arguments"  as follows:  
    Syntax :artifacts_demo <IP address>



  4. Click " F5" to execute.
  5. In robostudio, the output will be as follows:
    Multimedia
    date//Virtual Track Operation( Add, Delete, Modify)
    namebandicam 2017-12-13 18-21-31-346.mp4


  6. The output from console will be as follows:


  7. Delete one of the virtual tracks by selecting one of the IDs. the ID selected in the video is 3.

Code

  • Delete all virtual tracks/walls.
Code Block
languagecpp
firstline1
title删除所有虚拟轨道/虚拟墙
linenumberstrue
		SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(argv[1], 1445);
        std::cout << "Clearing existing tracks and walls..." << std::endl;
		sdp.clearLines(ArtifactUsageVirtualTrack);
		sdp.clearLines(ArtifactUsageVirtualWall);
  • add Add virtual walls
Code Block
languagecpp
firstline1
title添加虚拟墙
linenumberstrue
		std::cout << "Adding virtual walls..." << std::endl;
		std::vector<Line> walls;
		//add a 8 * 8 virtual wall square
		walls.push_back(Line(Point(-4, -4), Point(-4, 4)));
		walls.push_back(Line(Point(-4, 4), Point(4, 4)));
	    walls.push_back(Line(Point(4, 4), Point(4, -4)));
		walls.push_back(Line(Point(4, -4), Point(-4, -4)));	
		sdp.addLines(ArtifactUsageVirtualWall, walls);	
  • add Add virtual tracks
Code Block
languagecpp
firstline1
title添加虚拟轨道
linenumberstrue
		std::cout << "Adding virtual tracks..." << std::endl;
		std::vector<Line> tracks;
		//add a 2 * 2 virtual track square
		tracks.push_back(Line(Point(-1, -1), Point(-1, 1)));
		tracks.push_back(Line(Point(-1, 1), Point(1, 1)));
		tracks.push_back(Line(Point(1, 1), Point(1, -1)));
		tracks.push_back(Line(Point(1, -1), Point(-1, -1)));	
		sdp.addLines(ArtifactUsageVirtualTrack, tracks);
  • modify Modify a virtual wall ( similar with virtual wall modification)
Code Block
languagecpp
firstline1
title移动虚拟墙
linenumberstrue
		std::cout << "Moving vitual walls..." << std::endl;
		//sleep 5 seconds for displaying purpose only, not necessary
		boost::this_thread::sleep_for(boost::chrono::milliseconds(5000)); 
		std::vector<Line> get_walls = sdp.getLines(ArtifactUsageVirtualWall);
		//shrink virtual wall square from 8 * 8 to 6 *6
		for (std::vector<Line>::iterator it = get_walls.begin() ; it != get_walls.end(); ++it) {	
            it->startP().x() *= 0.75f; 
            it->startP().y() *= 0.75f;
		}
		sdp.moveLines(ArtifactUsageVirtualWall, get_walls);
  • Delete virtual tracks( similar with virtual wall deletion)
Code Block
languagecpp
firstline1
title删除指定虚拟轨道
linenumberstrue
		std::cout << "Get all tracks..." << std::endl;
		std::vector<Line> get_tracks = sdp.getLines(ArtifactUsageVirtualTrack);
		for (std::vector<Line>::iterator it = get_tracks.begin() ; it != get_tracks.end(); ++it) {
			std::cout << "ID: " << it->id() << std::endl;
			std::cout << "Start from (" << it->startP().x() << " , " << it->startP().y() << ") " << "to (" 
				      << it->endP().x() << " , " << it->endP().y() << " ) " << std::endl;		
		}

		std::cout << "Delete track by ID, please enter track ID:" << std::endl;
		int id;
	    bool is_found = false;
		std::cin >> id ;
		for (std::vector<Line>::iterator it = get_tracks.begin() ; it != get_tracks.end(); ++it) {
			if (id == it->id()) {
				sdp.removeLineById(ArtifactUsageVirtualTrack, id);
				is_found = true;
				break;
			}
		}
		if(!is_found)
			std::cout << "Wrong ID" << std::endl;