java-player-users

[Java-player-users] Some questions about how to use javaclient.

[<tig...@ho...>]

Dear,
Radu.
   I'm a new user of javaclient of p/s/g .Maybe these questions had been 
asked by other users and you had answered them,but I think it's too 
difficult to find them in the mail list.Can you give me some examples( like 
in player)to demo how to use some common functions? Such as :
1.How to go to a specific position use PositionInterface and PIDController?
2.How to use VFH driver with javaclient?
   Maybe you can write a tutorial of javaclient named "Javaclient of P/S/G 
HOW_TO".I think it's very useful for the beginner of this project.
   Any way,thanks a lot for your profect work !
                                                                       
Yours sincerely,
                                                                            
  Thunder
                                                                            
2005-11-09
                                              /* The Wuhan University of 
Technology,China */

_________________________________________________________________
与联机的朋友进行交流，请使用 MSN Messenger:  http://messenger.msn.com/cn  

[Java-player-users] Some questions about how to use javaclient.

[<tig...@ho...>]

Dear,
Radu.
   I'm a new user of javaclient of p/s/g .Maybe these questions had been 
asked by other users and you had answered them,but I think it's too 
difficult to find them in the mail list.Can you give me some examples( like 
in player)to demo how to use some common functions? Such as :
1.How to go to a specific position use PositionInterface and PIDController?
2.How to use VFH driver with javaclient?
   Maybe you can write a tutorial of javaclient named "Javaclient of P/S/G 
HOW_TO".I think it's very useful for the beginner of this project.
   Any way,thanks a lot for your profect work !
                                                                       
Yours sincerely,
                                                                            
  Thunder
                                                                            
2005-11-09
                                              /* The Wuhan University of 
Technology,China */

_________________________________________________________________
与联机的朋友进行交流，请使用 MSN Messenger:  http://messenger.msn.com/cn  

Re: [Java-player-users] Some questions about how to use javaclient.

[Radu B. R. <ru...@cs...>]

Okay, I will send a mail later today with some minor instructions on how
to do it.

Unfortunately, I have very little time to write a (good) tutorial right
now. Any volunteers that want to step up and help? I can provide all the
necessary information in a bulk format, I just need somebody to make it
look nice. :)

Cheers,
Radu.


=C0=D7 =B1=F3 wrote:

> Dear,
> Radu.
> I'm a new user of javaclient of p/s/g .Maybe these questions had been
> asked by other users and you had answered them,but I think it's too
> difficult to find them in the mail list.Can you give me some examples(
> like in player)to demo how to use some common functions? Such as :
> 1.How to go to a specific position use PositionInterface and
> PIDController?
> 2.How to use VFH driver with javaclient?
> Maybe you can write a tutorial of javaclient named "Javaclient of
> P/S/G HOW_TO".I think it's very useful for the beginner of this project=
.
> Any way,thanks a lot for your profect work !
> Yours sincerely,
> Thunder
> 2005-11-09
> /* The Wuhan University of Technology,China */
>
> _________________________________________________________________
> =D3=EB=C1=AA=BB=FA=B5=C4=C5=F3=D3=D1=BD=F8=D0=D0=BD=BB=C1=F7=A3=AC=C7=EB=
=CA=B9=D3=C3 MSN Messenger: http://messenger.msn.com/cn
>
>
> -------------------------------------------------------
> SF.Net email is sponsored by:
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--
| Radu Bogdan Rusu | http://www.rbrusu.com
| Intelligent Autonomous Systems Group
| Technische Universitaet Muenchen

[Java-player-users] Re:Re:Some questions about how to use javaclient.

[<tig...@ho...>]

Dear,
Radu.
    First,thanks for your help.Maybe I can provide some examples for 
beginners who never used javaclient of p/s/g. I have written some easy java 
programs which use postioninterface,sonarinterface or laserinterface .And 
all of them can work well with the player-1.6.4/stage-1.6.2 . But I don't 
know how to use the other interfaces or drivers now.Such as, 
PIDController,vfh,plannerinterface...
    If you can help me ,I will try my best to write the (good) tutorial.   
:) 
                                                                   
                                                                       
Yours sincerely,
                                                                            
  Thunder
                                                                            
2005-11-10
                                          /* The Wuhan University of 
Technology,China */

_________________________________________________________________
享用世界上最大的电子邮件系统― MSN Hotmail。  http://www.hotmail.com  

Re: [Java-player-users] Re:Re:Some questions about how to use javaclient.

[Radu B. R. <ru...@cs...>]

Hello,

Sorry for answering this late. Here are some explanations on how to use
the Controllers in the javaclient.extra package, as well as how to use
the PlannerInterface:

1) Controllers
1.a) create a PositionInterface
static PositionInterface pi =3D robot.requestInterfacePosition (0, 'a');
1.b) create a HeadingControl and/or a PositionControl
static HeadingControl hc =3D new HeadingControl (pi);
static PositionControl pc =3D new PositionControl (pi);
1.c) use [HeadingControl].setDiffHeading (X) for differential heading
eg. hc.setDiffHeading (10);
1.c) ...or... use [HeadingControl].setHeading (X) for absolute heading
(0..360)
eg. hc.setDiffHeading (240);
1.c) ...or... use [PositionControl].moveRobot (X) for moving the robot
forward for a specified distance
eg. pc.moveRobot (1000);
1.d) additionally you can use the {P,PI,PD,PID}Controllers directly like
this:
PController pid =3D new PController (1);
pid.setGoal (90);

while (true) {
double now =3D pi.getYaw ();
if (now < 0)
now +=3D 360;
try {
Thread.sleep (100);
} catch (Exception e) {}

int command =3D (int)pid.getCommand (now);
pi.setSpeed (0, command);
System.out.println (now + " / " + command);
}

For any other information check the Java API documentation. Also please
note, that the above Java classes will only be available in the CVS. We
are planning to release a new version of Javaclient soon (Maxim has some
suggestion for upgrading some stuff), and then the next major release
will be done after Player 2.0 stabilizes.

2) Planning/Localization/VFH
2.a) create a Localization and a Planner interface
LocalizeInterface locali =3D robot.requestInterfaceLocalize (0, 'r');
PlannerInterface plani =3D robot.requestInterfacePlanner (0, 'a');
2.b) define and set an initial pose for the localization (values from
playernav)
long cov[][] =3D {{250, 0, 0},
{0, 250, 0},
{0, 0, new Double ((Math.PI/6.0)*(Math.PI/6.0) * 180 / Math.PI * 3600 *
180 / Math.PI * 3600).longValue()}};
int mean[] =3D { 0, 0, 0 };
locali.setPose (mean, cov);
2.c) set the goal on the PlannerInterface
plani.setGoal (2000, -2000, 0);
2.d) for fun, aditionally print the number of hypotheses, the
groundtruth location as well as the planner location in a loop
while (true) {
System.out.println (locali.getHypothCount ());
System.out.println ("Ground truth: is [ " +
posi.getX () + ", " +
posi.getY () + ", " +
posi.getYaw () + "]");

System.out.println ("Current location is: [" +
plani.getPx () + ", " +
plani.getPy () + ", " +
plani.getPa () + "]");
try { Thread.sleep (100); } catch (Exception e) { }
}

I hope this works.

Cheers,
Radu.


=C0=D7 =B1=F3 wrote:

> Dear,
> Radu.
> First,thanks for your help.Maybe I can provide some examples for
> beginners who never used javaclient of p/s/g. I have written some easy
> java programs which use postioninterface,sonarinterface or
> laserinterface .And all of them can work well with the
> player-1.6.4/stage-1.6.2 . But I don't know how to use the other
> interfaces or drivers now.Such as, PIDController,vfh,plannerinterface..=
.
> If you can help me ,I will try my best to write the (good) tutorial.
> :) Yours sincerely,
> Thunder
> 2005-11-10
> /* The Wuhan University of Technology,China */


--=20
| Radu Bogdan Rusu | http://www9.cs.tum.edu/people/rusu | http://rbrusu.c=
om
| Intelligent Autonomous Systems Group | Computer Science Department IX
| Technische Universitaet Muenchen | Munich, Bavaria, Germany