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本页介绍了get_sensor_value的用法, 包含当前所有传感器的类型,安装位置,触发状态等。


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需要

软件平台

硬件平台

(以下任选其一)

  • Slamware SDP mini 
  • Slamware SDP
  • Slamware 套装 (基于Slamware导航方案的用户机器人系统)
  • Zeus/Apollo等底盘系统

编译运行

  1. 打开samples工程
  2. 右键get_sensor_value, 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get_sensor_value, 将此工程设置成StartUp project
  4. 右键get_sensor_value, 在Debugging页面中command Arguments处输入 192.168.11.1 
    格式说明:get_sensor_value <IP address> 
  5. 点击F5运行
  6. Console输出为(下图中0, 1两个bumper是触发状态,为0)

代码描述

  • 代码功能说明: 获取传感器数据

    获取传感器数据
    	
    		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; 
    			}		
    		}
    
    
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