yarp::dev::Nav2D::INavigation2DVelocityActions Class Reference

#include <yarp/dev/INavigation2D.h>

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

Public Member Functions
virtual	~INavigation2DVelocityActions ()
	Destructor.
virtual yarp::dev::ReturnValue	applyVelocityCommand (double x_vel, double y_vel, double theta_vel, double timeout=0.1)=0
	Apply a velocity command.
virtual yarp::dev::ReturnValue	getLastVelocityCommand (double &x_vel, double &y_vel, double &theta_vel)=0
	Returns the last applied velocity command.

Detailed Description

Definition at line 66 of file INavigation2D.h.

Constructor & Destructor Documentation

~INavigation2DVelocityActions()

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

inlinevirtual

Destructor.

Definition at line 72 of file INavigation2D.h.

Member Function Documentation

applyVelocityCommand()

virtual yarp::dev::ReturnValue 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]
timeout	The velocity command expires after the specified amount of time (by default 0.1 seconds)

Returns

a ReturnValue, convertible to true/false

Implemented in FakeNavigation, MobileBaseVelocityControl_nwc_yarp, and Navigation2D_nwc_yarp.

getLastVelocityCommand()

virtual yarp::dev::ReturnValue 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

a ReturnValue, convertible to true/false

Implemented in FakeNavigation, MobileBaseVelocityControl_nwc_yarp, and Navigation2D_nwc_yarp.

---

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

• src/libYARP_dev/src/yarp/dev/INavigation2D.h