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

    It's not necessary to copy files to the project directory, user will only need to configure the path of 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 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;




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