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代码功能说明：机器人导航运动到(2, 0) 点，然后从（2，0）沿虚拟轨道运动到（0, 0）点

Code Block

language	cpp
firstline	1
title	获取传感器数据导航到目标点
linenumbers	true

        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();		
		//move to location (2, 0), not on virtual track
		rpos::features::motion_planner::MoveOptions options;
		options.flag = MoveOptionFlag(MoveOptionFlagMilestone | MoveOptionFlagPrecise | MoveOptionFlagWithYaw | MoveOptionFlagReturnUnreachableDirectly);
		action = sdp.moveTo(rpos::core::Location(2, 0), options, pi);
		action.waitUntilDone();
		if (action.getStatus() == rpos::core::ActionStatusError)
			std::cout << "Action Failed: " << action.getReason() << std::endl;
		//draw a virtual track from (0, 0) to (2, 0), then move to (0, 0) via virtual track
		rpos::core::Line line(rpos::core::Point(0,0),rpos::core::Point(2,0));
		sdp.addLine(ArtifactUsageVirtualTrack, line);
		options.flag = MoveOptionFlag(MoveOptionFlagKeyPoints | MoveOptionFlagPrecise | MoveOptionFlagReturnUnreachableDirectly);
		action = sdp.moveTo(rpos::core::Location(0, 0), options);
		action.waitUntilDone();
		if (action.getStatus() == rpos::core::ActionStatusError)
			std::cout << "Action Failed: " << action.getReason() << std::endl;

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