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By Amanda Whitbrook
Programming cellular Robots with Aria and Player presents a accomplished consultant to making object-oriented C++ courses for robots utilizing the participant and Aria APIs inside of a Linux surroundings. A uncomplicated wisdom of object-oriented options is thought, however the textual content is written in a elementary kind, and is both compatible for researchers with past event of robotic regulate, or for college kids thoroughly new to the sector. The ebook is absolutely supported all through with examples, diagrams, pattern courses, and configuration records. MobileRobot’s Pioneers are used as autos in the course of the ebook, yet many of the strategies and courses which are proven for participant are without delay acceptable to the broad variety of different makes and versions that the API helps. additionally, the Aria part can be applicable for different robots made by way of MobileRobots.
The publication discusses easy methods to set up a number of the items of software program wanted and likewise describes how to:
• configure robots;
• keep an eye on robots remotely;
• software every one person sensor and actuator; and
• organize and keep watch over robots, in either the genuine global and in a simulated surroundings (either via Player’s degree plug-in or Aria’s MobileSim simulator).
Programming cellular Robots with Aria and Player serves as an entire textual content for undergraduate and postgraduate robotics programming modules, and is additionally a useful reference resource for college students, academics and researchers.
Additional fabric to this e-book might be downloaded from http://extras.springer.com/.
Read Online or Download Programming Mobile Robots with Aria and Player: A Guide to C++ Object-Oriented Control PDF
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Additional info for Programming Mobile Robots with Aria and Player: A Guide to C++ Object-Oriented Control
Example text
If a single joint is specified only that joint is homed at the current speed. The powerOff() method should only be called when the arm is in a good position to power off as it will go limp. It is safer to use park() as this homes the arm first before it is powered off. There are a number of other joint controlling methods that can be used. These include moveToTicks(), moveStep(), moveStepTicks(), moveVel() and stop(). The moveToTicks() method works in a similar way to the moveTo() method except the position is specified in ticks instead of degrees.
The program below shows commands that move the arm joints (lines 1 to 5) and the fingers (line 6). e. to move it you just send the moveTo() command to joint 6. There is a public attribute ArP2Arm::NumJoints that allows the number of joints to be determined. By declaring a P2ArmJoint object it is also possible to obtain information about the state of that joint. This is done by using the getJoint() method of the ArP2Arm class and by reference to the myVel, myHome, myCenter, myPos, myMin, myMax and myTicksPer90 attributes of the class.
The method to call is the getRawReadings() method of the ArSick class. This returns a pointer to a list of ArSensorReading object pointers. You will need to loop through this list to obtain the values and angles, so you will also need to declare an iterator object for the list as well as the list itself. You can then loop through each ArSensorReading pointer and obtain its reading and angle by calling its getRange() and getSensorTh() methods. 2 for the angular positions of each reading. If you require two readings for each degree then you should add the argument -laserincrement half when calling your control program.