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orca::PathFollower2d Class Reference [PathFollower2d] The Path Follower. More... Inherited by goalplanner::PathFollower2dI, and orcalocalnav::PathFollower2dI. List of all members. Public Member Functions PathFollower2dData  getData () void  setData (PathFollower2dData path, bool activateImmediately) throw ( MalformedParametersException, OrcaException) void  activateNow ()) int  getWaypointIndex () bool  getAbsoluteActivationTime (out Time activationTime) bool  getRelativeActivationTime (out double secondsSinceActivation) void  setEnabled (bool enabled) bool  enabled ()   Get the enabled/disabled state. void  subscribe (PathFollower2dConsumer *subscriber) throw ( SubscriptionFailedException) void  unsubscribe (PathFollower2dConsumer *subscriber)) Detailed Description The Path Follower. To make the follower follow a path: either (a) call setData(thePath,false) to load the path, then call activateNow() to make it go. or (b) call setData(thePath,true) to load the path and have the follower start following it immediately Member Function Documentation PathFollower2dData orca::PathFollower2d::getData (  )  Returns the path currently being followed, or throws DataNotExistException if none has been set. void orca::PathFollower2d::setData ( PathFollower2dData  path, bool  activateImmediately   ) throw ( MalformedParametersException, OrcaException) Loads the follower with a path to follow. If activateImmediately is false, the follower won't go anywhere until activateNow() is called. Loading the follower with a new path while it is active over-writes the old path. The activation status of the follower is set to the value of activateImmediately. The follower can therefore be stopped by calling setData(emptyPath,false). void orca::PathFollower2d::activateNow (  )  Start following the previously-loaded path. alexm: what happens when none is loaded? Silently ignored? int orca::PathFollower2d::getWaypointIndex (  )  Returns the index of the waypoint which is currently pursued: '-1' : none (inactive) [0,n-1] : an index into the list of n waypoints. bool orca::PathFollower2d::getAbsoluteActivationTime ( out Time  activationTime  )  If the PathFollower is active (alexm: what does that mean? has path?) returns TRUE and sets the absolute time when the follower started following the current path If the PathFollower is inactive: returns FALSE and does not set the activation time bool orca::PathFollower2d::getRelativeActivationTime ( out double  secondsSinceActivation  )  If the PathFollower is active: returns true and sets secondsSinceActivation to the number of seconds since the follower started following the current path If the PathFollower is inactive: returns false and does not set secondsSinceActivation void orca::PathFollower2d::setEnabled ( bool  enabled  )  Disabling the PathFollower stops it from sending any commands to the robot. It says, "Take your hands off the wheel!". No commands can be send until it is re-enabled. void orca::PathFollower2d::subscribe ( PathFollower2dConsumer *  subscriber  )  throw ( SubscriptionFailedException) Mimics IceStorm's subscribe(). The implementation may choose to implement the push directly or use IceStorm. This choice is transparent to the subscriber. Parameters: subscriber  The subscriber's proxy. See also: unsubscribe void orca::PathFollower2d::unsubscribe ( PathFollower2dConsumer *  subscriber  )  Unsubscribe the given [subscriber]. Parameters: subscriber  The proxy of an existing subscriber. See also: subscribe The documentation for this class was generated from the following file: pathfollower2d.ice

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