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
IDE Preparation
Software
- Visual Studio 2010 SP1
- Slamware Windows SDK:Slamware Windows SDK
- RoboStudio(for map display):Robostudio installer
Sample Code:
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
Compiling
- Right click on "artifacts_demo" project, set as StartUp project.
Right click on "artifacts_demo", then " Properties"，configure "include" and "lib" directories to the corresponding folder path of Slamware SDK.
Slamware SDK的include和lib目录无需复制到参考例程目录，只需在Visual Studio里指定路径即可。
- Right click on "artifacts_demo", then "properties"，set "Command Arguments" as follows:
Syntax ：artifacts_demo <IP address>
- Click " F5" to execute.
- In robostudio, the output will be as follows:
- The output from console will be as follows:
- 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.
删除所有虚拟轨道/虚拟墙
SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(argv[1], 1445);
std::cout << "Clearing existing tracks and walls..." << std::endl;
sdp.clearLines(ArtifactUsageVirtualTrack);
sdp.clearLines(ArtifactUsageVirtualWall);
- add virtual walls
添加虚拟墙
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 virtual tracks
添加虚拟轨道
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 a virtual wall ( similar with virtual wall modification)
移动虚拟墙
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）
删除指定虚拟轨道
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;