这里的小社区,但希望有人看到这一点。我正在尝试为E-puck做一个纯粹的C++实现。 C++文档非常缺乏,而且我似乎无法找到解决此问题的办法(C实现非常好,但所有函数调用都针对C++进行了更改)。在Webots C++中将速度设置为DifferentialWheels的问题
基本上,我只是试图让一个简单的应用程序运行起来......我想让电子冰球前进。我会在下面发布我的代码的全部内容......我所做的只是实例化一个Robot实体,打印出所有IR传感器值,并尝试向前移动它。
问题是它不会移动。我认为会有一些电话将DifferentialWheel对象连接到E-puck(类似于camera = getCamera("camera")
调用)。
如果我将我的电话注释到setSpeed,程序完美工作(不移动,但打印值)。如果我放下它,一旦它接到该呼叫,模拟会在一步之后冻结。说实话,我不确定我做错了什么。现在
// webots
#include <webots/Robot.hpp>
#include <webots/Camera.hpp>
#include <webots/DistanceSensor.hpp>
#include <webots/DifferentialWheels.hpp>
#include <webots/LED.hpp>
// standard
#include <iostream>
using namespace webots;
#define TIME_STEP 16
class MyRobot : public Robot
{
private:
Camera *camera;
DistanceSensor *distanceSensors[8];
LED *leds[8];
DifferentialWheels *diffWheels;
public:
MyRobot() : Robot()
{
// camera
camera = getCamera("camera");
// sensors
distanceSensors[0] = getDistanceSensor("ps0");
distanceSensors[1] = getDistanceSensor("ps1");
distanceSensors[2] = getDistanceSensor("ps2");
distanceSensors[3] = getDistanceSensor("ps3");
distanceSensors[4] = getDistanceSensor("ps4");
distanceSensors[5] = getDistanceSensor("ps5");
distanceSensors[6] = getDistanceSensor("ps6");
distanceSensors[7] = getDistanceSensor("ps7");
for (unsigned int i = 0; i < 8; ++i)
distanceSensors[i]->enable(TIME_STEP);
// leds
leds[0] = getLED("led0");
leds[1] = getLED("led1");
leds[2] = getLED("led2");
leds[3] = getLED("led3");
leds[4] = getLED("led4");
leds[5] = getLED("led5");
leds[6] = getLED("led6");
leds[7] = getLED("led7");
}
virtual ~MyRobot()
{
// cleanup
}
void run()
{
double speed[2] = {20.0, 0.0};
// main loop
while (step(TIME_STEP) != -1)
{
// read sensor values
for (unsigned int i = 0; i < 8; ++i)
std::cout << " [" << distanceSensors[i]->getValue() << "]";
std::cout << std::endl;
// process data
// send actuator commands
// this call kills the simulation
// diffWheels->setSpeed(1000, 1000);
}
}
};
int main(int argc, char* argv[])
{
MyRobot *robot = new MyRobot();
robot->run();
delete robot;
return 0;
}
,如果这是C语言实现,我会打电话wb_differential_wheels_set_speed(1000, 1000);
然而,这一呼吁是不是在C++头文件可用。
那......会做。谢谢! – espais 2012-08-10 00:53:37