YARP
Yet Another Robot Platform
yarp::dev::Nav2D::INavigation2DVelocityActions Class Referenceabstract

#include <yarp/dev/INavigation2D.h>

+ Inheritance diagram for yarp::dev::Nav2D::INavigation2DVelocityActions:

Public Member Functions

virtual ~INavigation2DVelocityActions ()
 Destructor. More...
 
virtual bool applyVelocityCommand (double x_vel, double y_vel, double theta_vel, double timeout=0.1)=0
 Apply a velocity command. More...
 
virtual bool getLastVelocityCommand (double &x_vel, double &y_vel, double &theta_vel)=0
 Returns the last applied velocity command. More...
 

Detailed Description

Definition at line 65 of file INavigation2D.h.

Constructor & Destructor Documentation

◆ ~INavigation2DVelocityActions()

virtual yarp::dev::Nav2D::INavigation2DVelocityActions::~INavigation2DVelocityActions ( )
inlinevirtual

Destructor.

Definition at line 71 of file INavigation2D.h.

Member Function Documentation

◆ applyVelocityCommand()

virtual bool yarp::dev::Nav2D::INavigation2DVelocityActions::applyVelocityCommand ( double  x_vel,
double  y_vel,
double  theta_vel,
double  timeout = 0.1 
)
pure virtual

Apply a velocity command.

Velocities are expressed in the robot reference frame.

Parameters
x[m/s]
y[m/s]
theta[deg/s]
timeoutThe velocity command expires after the specified amount of time (by default 0.1 seconds)
Returns
true/false

Implemented in fakeNavigation, MobileBaseVelocityControl_nwc_yarp, and Navigation2D_nwc_yarp.

◆ getLastVelocityCommand()

virtual bool yarp::dev::Nav2D::INavigation2DVelocityActions::getLastVelocityCommand ( double &  x_vel,
double &  y_vel,
double &  theta_vel 
)
pure virtual

Returns the last applied velocity command.

Parameters
x[m/s]
y[m/s]
theta[deg/s]
Returns
true/false

Implemented in fakeNavigation, MobileBaseVelocityControl_nwc_yarp, and Navigation2D_nwc_yarp.


The documentation for this class was generated from the following file: