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Functions
int	agvc_interface::AgvcInterface::changeRunningMode (const RunningMode &running_mode, const Header &command_header={ "99999", "99999", 1, "99999" })
	Switches the AGV running mode.
int	agvc_interface::AgvcInterface::setControlSpeed (const Speed &speed)
	Controls AGV motion.
int	agvc_interface::AgvcInterface::setNavGoal (const NavGoalType &target)
	Sends a navigation goal to the AGV.
int	agvc_interface::AgvcInterface::pauseAgvSpeed ()
	Pauses AGV speed.
int	agvc_interface::AgvcInterface::resumeAgvSpeed ()
	Resumes AGV speed after a pause.
int	agvc_interface::AgvcInterface::cancelNavigation ()
	Cancels the navigation task.
int	agvc_interface::AgvcInterface::relocation (const Pose2d &init_pose, const Header &command_header={ "99999", "99999", 1, "99999" })
	Relocates the AGV.

Detailed Description

Functions for AGVC motion control, navigation goals, relocation, and mode switching.

Function Documentation

cancelNavigation()

int agvc_interface::AgvcInterface::cancelNavigation

(

)

Cancels the navigation task.

Attention

Requires control priority.

Returns

10100000: navigation task canceled successfully; 10120202: no control priority; else: failed to cancel the navigation task.

changeRunningMode()

int agvc_interface::AgvcInterface::changeRunningMode	(	const RunningMode &	running_mode,
		const Header &	command_header = { "99999", "99999", 1, "99999" } )

Switches the AGV running mode.

Attention

1. Asynchronous API; 2. Requires control priority.

Parameters

[in]	running_mode	Target mode to switch to, such as navigation mode or mapping mode.
[in]	command_header	The id field is the ID of this command; other fields have no special meaning.

Returns

10100000: mode switched successfully; 10100201: asynchronous API is running; 10120202: no control priority; else: failed to switch mode.

pauseAgvSpeed()

int agvc_interface::AgvcInterface::pauseAgvSpeed

(

)

Pauses AGV speed.

Attention

Requires control priority.

Returns

10100000: paused successfully; 10120202: no control priority; else: pause failed.

relocation()

int agvc_interface::AgvcInterface::relocation	(	const Pose2d &	init_pose,
		const Header &	command_header = { "99999", "99999", 1, "99999" } )

Relocates the AGV.

Attention

1. Asynchronous API; 2. Requires control priority.

Parameters

[in]	init_pose	Current reference pose of the AGV.
[in]	command_header	The id field is the ID of this command; other fields have no special meaning.

Returns

10100000: relocation succeeded; 10100201: asynchronous API is running; 10120202: no control priority; else: relocation failed.

resumeAgvSpeed()

int agvc_interface::AgvcInterface::resumeAgvSpeed

(

)

Resumes AGV speed after a pause.

Attention

Requires control priority.

Returns

10100000: resumed successfully; 10120202: no control priority; else: resume failed.

setControlSpeed()

int agvc_interface::AgvcInterface::setControlSpeed

(

const Speed &

speed

)

Controls AGV motion.

Attention

Requires control priority.

Parameters

[in]

speed

Speed information.

Returns

10100000: speed command sent to the AGV successfully; 10120202: no control priority; else: failed to send the speed command.

setNavGoal()

int agvc_interface::AgvcInterface::setNavGoal

(

const NavGoalType &

target

)

Sends a navigation goal to the AGV.

Attention

Requires control priority.

Parameters

[in]

target

Target pose information and navigation parameters.

Returns

10100000: navigation goal set successfully; 10120202: no control priority; else: failed to set the navigation goal.