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| MyBase (const Dependencies &deps, const ResourceConfig &cfg) |
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void | reconfigure (const Dependencies &deps, const ResourceConfig &cfg) override |
| Reconfigures a resource.
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bool | is_moving () override |
| Reports if the base is in motion.
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void | stop (const ProtoStruct &extra) override |
| Stops a resource from running.
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void | set_power (const Vector3 &linear, const Vector3 &angular, const ProtoStruct &extra) override |
| Sets the linear and angular power of a base -1 -> 1 in terms of power for each direction.
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ProtoStruct | do_command (const ProtoStruct &command) override |
| Send/receive arbitrary commands to the resource.
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std::vector< GeometryConfig > | get_geometries (const ProtoStruct &extra) override |
| Returns GeometryConfig s associated with the calling base.
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Base::properties | get_properties (const ProtoStruct &extra) override |
| Returns physical properties of the base (width, turning radius, wheel circumference)
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void | move_straight (int64_t distance_mm, double mm_per_sec, const ProtoStruct &extra) override |
| Move a robot's base in a straight line by a given distance. This method blocks until completed or cancelled.
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void | spin (double angle_deg, double degs_per_sec, const ProtoStruct &extra) override |
| Spins a robot's base by an given angle, expressed in degrees. This method blocks until completed or cancelled.
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void | set_velocity (const Vector3 &linear, const Vector3 &angular, const ProtoStruct &extra) override |
| Set the linear and angular velocity of a base.
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void | move_straight (int64_t distance_mm, double mm_per_sec) |
| Move a robot's base in a straight line by a given distance. This method blocks until completed or cancelled.
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void | spin (double angle_deg, double degs_per_sec) |
| Spins a robot's base by an given angle, expressed in degrees. This method blocks until completed or cancelled.
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void | set_power (const Vector3 &linear, const Vector3 &angular) |
| Sets the linear and angular power of a base -1 -> 1 in terms of power for each direction.
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void | set_velocity (const Vector3 &linear, const Vector3 &angular) |
| Set the linear and angular velocity of a base.
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properties | get_properties () |
| Returns physical properties of the base (width, turning radius, wheel circumference)
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std::vector< GeometryConfig > | get_geometries () |
| Returns GeometryConfig s associated with the calling base.
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API | api () const override |
| Returns the API associated with a particular resource.
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Name | get_resource_name () const override |
| Returns the Name for a particular resource.
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| Resource (std::string name) |
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virtual std::string | name () const |
| Return the resource's name.
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void | set_log_level (log_level) const |
| Set the log level for log messages originating from this Resource.
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void | stop () |
| Stops a resource from running.
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