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  1. 打开samples工程
  2. 右键rotation_action_demo, 打开属性选项，将Slamware SDK 的include目录和lib目录添加到工程
  3. 右键rotation_action_demo, 将此工程设置成StartUp project
  4. 右键rotation_action_demo, 在Debugging页面中command Arguments处输入 192.168.11.1 
    格式说明：rotation_action_demo <IP address> 
  5. 点击F5运行（TODO 添加RoboStudio的视频）
  6. 可以连上Robostudio查看地图及机器人的运动
    Multimedia
    date//旋转到指定角度
    namebandicam 2018-01-30 16-13-28-334.mp4

代码描述

  • 代码功能说明：机器人先逆时针转一周，再顺时针转一周，最后转到yaw值为pi的位置。

    Code Block
    languagecpp
    firstline1
    title旋转指定角度/旋转到指定角度
    linenumberstrue
     		SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(argv[1], 1445);
        std::cout <<"SDK Version: " << sdp.getSDKVersion() << std::endl;
        std::cout <<"SDP Version: " << sdp.getSDPVersion() << std::endl;
		rpos::actions::MoveAction action = sdp.getCurrentAction();
		if (action)
			action.cancel();			    
		//anticlockwise rotation
		rpos::core::Rotation rotation(pi*2, 0, 0);
		action = sdp.rotate(rotation);
		action.waitUntilDone();
		std::cout << "Action Status: " << action.getStatus() << std::endl;
		//clockwise rotation
	    rotation.yaw() = pi * (-2);
		action = sdp.rotate(rotation);
		action.waitUntilDone();
		std::cout << "Action Status: " << action.getStatus() << std::endl;
		//rotate to a certain orientation
		rpos::core::Rotation orientation(pi, 0, 0);
		action = sdp.rotateTo(orientation);
		action.waitUntilDone();
		std::cout << "Action Status: " << action.getStatus() << std::endl;