本页介绍了forbidden_area的用法, 包含禁行区域的添加以及删除功能。 |
本页内容
Sample Code:
使用更高版本的Visual Studio可能会带来编译异常。 使用Visual Studio 2010(无SP1)可能会因为无法与.Net Framework兼容而报编译错误,此时增加SP1更新包即可解决问题 |
(以下任选其一)
右键forbidden_area, 打开属性选项,将Slamware SDK 的include目录和lib目录添加到工程
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。 |
添加一个禁行区域,并在10s后清除所有禁行区域
SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(ip_address, 1445); std::cout <<"SDK Version: " << sdp.getSDKVersion() << std::endl; std::cout <<"SDP Version: " << sdp.getSDPVersion() << std::endl; /*add a forbidden area. start point(0,1), end point(3,1), width=2*2, escape region size=1 */ rpos::core::ORectangleF area(rpos::core::Vector2f(0,1),rpos::core::Vector2f(3,1),2); rpos::core::Metadata metadata; std::string escapedistance="escape_distance"; std::string valueofescapedistance="1"; metadata.set(escapedistance,valueofescapedistance); rpos::features::artifact_provider::RectangleArea rectanglearea; rectanglearea.id=1; rectanglearea.metadata=metadata; rectanglearea.area=area; rectanglearea.usage=ArtifactUsageForbiddenArea; std::cout <<"Adding a forbidden area..."<< std::endl; sdp.addRectangleArea(ArtifactUsageForbiddenArea,rectanglearea); std::cout <<"Clearing all the forbidden area after 10s ..."<< std::endl; boost::this_thread::sleep_for(boost::chrono::milliseconds(10000)); //sleep 10000ms sdp.clearRectangleAreas(ArtifactUsageForbiddenArea); |