AgvInfo

Functions
AgvDetails	agvc_interface::AgvcInterface::getAgvDetails ()
	Queries current AGV information.
RunningInfo	agvc_interface::AgvcInterface::getRunningInfo ()
	Queries current AGV running information.
Pose2d	agvc_interface::AgvcInterface::getAgvCurrentPose ()
	Queries the current AGV pose.
std::vector< Point2d >	agvc_interface::AgvcInterface::getLaserPointCloud ()
	Queries the current laser point cloud data.
NavInfo	agvc_interface::AgvcInterface::getNavInfo ()
	Gets current navigation information.
std::string	agvc_interface::AgvcInterface::getAgvLogMessage ()
	Gets AGV runtime log messages.
ScriptRuntimeState	agvc_interface::AgvcInterface::getScriptStatus ()
	Gets the script runtime state.
std::string	agvc_interface::AgvcInterface::errorCodeDecoder (const int &error_code)
	Queries an error code.
std::vector< Header >	agvc_interface::AgvcInterface::getCurrentErrorCodes ()
	Gets current error codes.
int	agvc_interface::AgvcInterface::soundLightPrompt ()
	Locates the AGV by automatically playing audio and flashing special lights.
bool	agvc_interface::AgvcInterface::isObstacleAhead (const double &detect_distance=1.0)
	Checks whether there is an obstacle in the AGV travel direction.
StationMark	agvc_interface::AgvcInterface::getNearestStation (const double &detect_distance=1.0)
	Gets the nearest station within the specified detection distance.

Detailed Description

Query functions for AGVC status, pose, logs, error codes, and related information.

Function Documentation

errorCodeDecoder()

std::string agvc_interface::AgvcInterface::errorCodeDecoder

(

const int &

error_code

)

Queries an error code.

Parameters

[in]

error_code

Error code.

Returns

Meaning of the error code. Empty means the error code is unknown.

getAgvCurrentPose()

Pose2d agvc_interface::AgvcInterface::getAgvCurrentPose

(

)

Queries the current AGV pose.

Attention

RTDE pushed data.

Returns

Current pose.

getAgvDetails()

AgvDetails agvc_interface::AgvcInterface::getAgvDetails

(

)

Queries current AGV information.

Attention

RTDE pushed data.

Returns

Detailed AGV information.

getAgvLogMessage()

std::string agvc_interface::AgvcInterface::getAgvLogMessage

(

)

Gets AGV runtime log messages.

Returns

AGV runtime log messages.

getCurrentErrorCodes()

std::vector< Header > agvc_interface::AgvcInterface::getCurrentErrorCodes

(

)

Gets current error codes.

Returns

Error code collection.

getLaserPointCloud()

std::vector< Point2d > agvc_interface::AgvcInterface::getLaserPointCloud

(

)

Queries the current laser point cloud data.

Attention

RTDE pushed data.

Returns

2D laser point coordinates.

getNavInfo()

NavInfo agvc_interface::AgvcInterface::getNavInfo

(

)

Gets current navigation information.

Attention

RTDE pushed data.

Returns

Current navigation information.

getNearestStation()

StationMark agvc_interface::AgvcInterface::getNearestStation

(

const double &

detect_distance = 1.0

)

Gets the nearest station within the specified detection distance.

Parameters

[in]

detect_distance

Detection distance. Default: 1.0 m.

Returns

Nearest station information. id NONE means no station is within the detection distance.

getRunningInfo()

RunningInfo agvc_interface::AgvcInterface::getRunningInfo

(

)

Queries current AGV running information.

Attention

RTDE pushed data.

Returns

AGV running information.

getScriptStatus()

ScriptRuntimeState agvc_interface::AgvcInterface::getScriptStatus

(

)

Gets the script runtime state.

Returns

Script runtime state.

isObstacleAhead()

bool agvc_interface::AgvcInterface::isObstacleAhead

(

const double &

detect_distance = 1.0

)

Checks whether there is an obstacle in the AGV travel direction.

Parameters

[in]

detect_distance

Detection distance. Default: 1.0 m.

Returns

true: obstacle exists in the travel direction; false: no obstacle in the travel direction.

soundLightPrompt()

int agvc_interface::AgvcInterface::soundLightPrompt

(

)

Locates the AGV by automatically playing audio and flashing special lights.

Returns

10100000: locate command sent successfully; else: failed to send the command.