This document introduces the demo project of “virtual_track_with_oa”, including a brief introduction to Virtual Track with OA Navigation mode. It can be understood as high-speed priority in road navigation. 1. Between the starting point and the target point, if there is a track, it will take precedence on the track. 2. If there are obstacles on the track, it will go off the track and then go on the track. |
Content
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. |
（Either one of following）
Right click on "virtual_track_with_oa", then " Properties"，configure "include" and "lib" directories to the corresponding folder path of Slamware SDK.
It's not necessary to copy files to the project directory, user will only need to configure the path of SDK. |
Draw a 6-metre track in the forward direction of the x-axis of the robot's current position, and then move along the track to the target point.
SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(ip_address, 1445); std::cout <<"SDK Version: " << sdp.getSDKVersion() << std::endl; std::cout <<"SDP Version: " << sdp.getSDPVersion() << std::endl; //draw a 6 meter virtual track rpos::core::Pose sdp_pos = sdp.getPose(); rpos::core::Line line(rpos::core::Point(sdp_pos.x(), sdp_pos.y()),rpos::core::Point(sdp_pos.x() + 6, sdp_pos.y())); sdp.addLine(ArtifactUsageVirtualTrack, line); rpos::actions::MoveAction action = sdp.getCurrentAction(); if (action) action.cancel(); rpos::features::motion_planner::MoveOptions options; options.flag = MoveOptionFlag(MoveOptionFlagKeyPointsWithOA); 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;; |