Re: [Java-player-users] How can I localize using LocalizeInterface

[Faruq <wri...@ya...>]

Hi,

Thanks John for you reply. 

Actually my purpose is to demonstrate some scenarios using an intelligent
planner and simulating real-life is not necessary. I need to integrate many
other components with player including a GUI. Let me share some of my codes
as it can be helpful for others ( and also for myself if someone corrects me
:))

I am trying to move a robot horizontally (X direction) about 1 meter using
BlobfinderExample
After connecting to robot I code it like this:

                    while(!posi.isDataReady());
                  /* Determine current pose: default X = -1.0, Y = -3.0, Yaw
= 0.0 */
			currentPose = posi.getData().getPos(); 
			// print initial pose			
			System.out.println("Initial X:" + currentPose.getPx() + " Y: " +
currentPose.getPy() 
						+ " Yaw: " + currentPose.getPa());
			
			/* Go 1 m horizontally Target: X= 0.0 */
			float target = 1.00f;
			desiredPose.setPx(currentPose.getPx() + target); // set desired pose
						
			while(currentPose.getPx() < desiredPose.getPx())
			{
				
				posi.setSpeed(0.40f, 0.0f); // move ahead
				currentPose = posi.getData().getPos(); // take pose reading 
				//System.out.println("current pose:" + currentPose.getPx());				
			}
			
			/* Stop */
			posi.setSpeed(0.00f, 0.0f); //stop in this way?

                        System.out.println("WJ-Pre X:" + currentPose.getPx()
+ " Y: " + currentPose.getPy() 
					+ " Yaw: " + currentPose.getPa());

So, I'm getting different results in different run. If you see the output
for  current pose, it is different in different run (floating point problem,
I guess ). Anyway, I don't need heavy localization methods. But I'm
expecting to move the robot a fixed distance always in the same manner.

BTW, I'm thinking to make a GUI panel to control simulation. I wonder if
anyone did this previously.  In that case we may add another example in
java-player website. I think it would be interesting to control using GUI
panel.

My thanks to all Java-player developers for making this nice client library.

Best regards,

Faruq
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