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代码功能说明： 获取电量/充电状态
Code Block language cpp firstline 1 title 获取传感器数据 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; std::vector<ImpactSensorInfo> sensors; bool result = sdp.getSensors(sensors); if (result) { for (std::vector<ImpactSensorInfo>::iterator it = sensors.begin(); it != sensors.end(); ++it) { std::cout << "Sensor id : " << it->id << std::endl; if (it->kind == ImpactSensorKindBumper) std::cout << "Sensor Kind: Bumper" << std::endl; else if (it->kind == ImpactSensorKindCliff) std::cout << "Sensor Kind: Cliff" << std::endl; else if (it->kind == ImpactSensorKindSonar) std::cout << "Sensor Kind: Sonar" << std::endl; else return 1; if (it->type == ImpactSensorTypeAnalog) std::cout << "Sensor Type: Analog" << std::endl; else if (it->type == ImpactSensorTypeDigital) std::cout << "Sensor Type: Digital" << std::endl; else return 1; std::cout << "Sensor Position: ( " << it->pose.x() << " , " << it->pose.y() << " , " << \ it->pose.z() << " ) ; Yaw = " << it->pose.yaw() << std::endl; ImpactSensorValue value; sdp.getSensorValue(it->id, value); std::cout << "Sensor Value : " << value.value<< std::endl; } }