本页介绍了move_to_spot的用法

本页内容

需要

软件平台

Visual Studio 2010
Slamware Windows SDK:Slamware Windows SDK
RoboStudio(用于显示地图):Robostudio installer
Sample Code:

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

打开samples工程

右键move_to_spot, 打开属性选项，将Slamware SDK 的include目录和lib目录添加到工程
右键move_to_spot, 将此工程设置成StartUp project
右键move_to_spot, 在Debugging页面中command Arguments处输入 192.168.11.1 (Slamware AP 模式默认IP地址)。注：此sample为 windows console application, 也可以在console中用命令行执行，用法为：move_to_spot <IP address>
点击F5运行
（TODO 添加RoboStudio的视频）

代码描述

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

        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;