Slamtec N5M32-R2, Руководство пользователя

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5.
#include <rpos\robot_platforms\slamware_core_platform.h>
6.
#include <rpos\robot_platforms\objects\composite_map_reader.h>
7.
#include <rpos\core\pose.h>
9. using namespace std;
11. int main()
12. {
13. try
14. {
15.
string map_path = ".\\map.stcm" ; //the path of map
16.
string Athena2.0_ip = "192.168.11.1" ; //the ip of Athena2.0
17. int Athena2.0_port = 1445; //the port of Athena2.0 ,default is 1445
19. rpos::robot_platforms::SlamwareCorePlatform Athena2.0 =
20. rpos::robot_platforms::SlamwareCorePlatform::connect(Athena2.0_ip, Athena2.0_port);
21. //connect to the Athena2.0
22. rpos::robot_platforms::objects::CompositeMapReader cmapreader;
23. //map reader
24. rpos::core::Pose Athena2.0_pose = rpos::core::Pose(rpos::core::Location(0, 0, 0));
25. //the Athena2.0 pose in map(Athena2.0_pose should be the Athena2.0's real pose in new map)
26. //using Athena2.0.getpose() to get the old Athena2.0 pose
27. auto map = cmapreader.loadFile(map_path);
28. //load map
29. Athena2.0.setCompositeMap(*map, Athena2.0_pose);
30. //set compositemap
31. rpos::core::Pose home_pose = rpos::core::Pose(rpos::core::Location(0, 0, 0));
32. //the home pose in map(home_pose should be the home's real pose in new map)
33. //using Athena2.0.gethomepose() to get the old home pose
34. Athena2.0.setHomePose(home_pose);
35. //set home pose
36. }
37. catch (rpos::robot_platforms::ConnectionFailException &e)
38. {
39. cout << "connect failed on " << e.what() << endl;
40. }
41. catch (rpos::system::detail::ExceptionBase &e)
42. {
43. cout << "failed on " << e.what() << endl;
44. }
45.
46. return 0;
47. }
Further motion deployment details, please see the SDK instruction document
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