This document introduces the demo project of "rotation_action_demo", including how to rotate clockwise, rotate anticlockwise and rotate to a particular angle.

Content

IDE Preperation

• 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

Win32-Demo

Compiling

1. Right click on "rotation_action_demo" project, set as StartUp project.
2. Right click on "rotation_action_demo", then " Properties"，configure "include" and "lib" directories to the corresponding folder path of Slamware SDK.
3. Right click on "rotation_action_demo", then "properties"，set "Command Arguments" as follows: Syntax ：rotation_action_demo <IP address>
4. Click " F5" to execute.
5. Robot's motion could be seen in Robostudio.

Code

• The robot will first turn anticlockwise, then clockwise, and finally turn to the position where the value of yaw is pi.

  Rotate a particular angle/Rotate to a particular angle

  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;