#include <yarp/dev/INavigation2D.h>
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... | |
Definition at line 65 of file INavigation2D.h.
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inlinevirtual |
Destructor.
Definition at line 71 of file INavigation2D.h.
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pure virtual |
Apply a velocity command.
Velocities are expressed in the robot reference frame.
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) |
Implemented in fakeNavigation, MobileBaseVelocityControl_nwc_yarp, and Navigation2D_nwc_yarp.
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pure virtual |
Returns the last applied velocity command.
x | [m/s] |
y | [m/s] |
theta | [deg/s] |
Implemented in fakeNavigation, MobileBaseVelocityControl_nwc_yarp, and Navigation2D_nwc_yarp.