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