public ArGPS create(ArRobot robot)
{
global::System.IntPtr cPtr = AriaCSPINVOKE.ArGPSConnector_create__SWIG_0(swigCPtr, ArRobot.getCPtr(robot));
ArGPS ret = (cPtr == global::System.IntPtr.Zero) ? null : new ArGPS(cPtr, false);
return(ret);
}
public virtual ArRobot getRobot()
{
global::System.IntPtr cPtr = AriaCSPINVOKE.ArP2Arm_getRobot(swigCPtr);
ArRobot ret = (cPtr == global::System.IntPtr.Zero) ? null : new ArRobot(cPtr, false);
return(ret);
}
public ArTCM2 create(ArRobot robot)
{
global::System.IntPtr cPtr = AriaCSPINVOKE.ArCompassConnector_create(swigCPtr, ArRobot.getCPtr(robot));
ArTCM2 ret = (cPtr == global::System.IntPtr.Zero) ? null : new ArTCM2(cPtr, false);
return(ret);
}
public static ArRobot findRobot(string name)
{
global::System.IntPtr cPtr = AriaCSPINVOKE.Aria_findRobot(name);
ArRobot ret = (cPtr == global::System.IntPtr.Zero) ? null : new ArRobot(cPtr, false);
return(ret);
}
public virtual void setRobot(ArRobot robot)
{
if (SwigDerivedClassHasMethod("setRobot", swigMethodTypes4))
{
AriaCSPINVOKE.ArAction_setRobotSwigExplicitArAction(swigCPtr, ArRobot.getCPtr(robot));
}
else
{
AriaCSPINVOKE.ArAction_setRobot(swigCPtr, ArRobot.getCPtr(robot));
}
}
public ArModeTCM2(ArRobot robot, string name, char key, char key2) : this(AriaCSPINVOKE.new_ArModeTCM2__SWIG_1(ArRobot.getCPtr(robot), name, key, key2), true)
{
}
public bool open(ArRobot robot, uint port, string password, bool multipleClients)
{
bool ret = AriaCSPINVOKE.ArNetServer_open__SWIG_1(swigCPtr, ArRobot.getCPtr(robot), port, password, multipleClients);
return(ret);
}
public ArRatioInputKeydrive(ArRobot robot, ArActionRatioInput input) : this(AriaCSPINVOKE.new_ArRatioInputKeydrive__SWIG_2(ArRobot.getCPtr(robot), ArActionRatioInput.getCPtr(input)), true)
{
}
public ArRatioInputKeydrive(ArRobot robot, ArActionRatioInput input, int priority, double velIncrement) : this(AriaCSPINVOKE.new_ArRatioInputKeydrive__SWIG_0(ArRobot.getCPtr(robot), ArActionRatioInput.getCPtr(input), priority, velIncrement), true)
{
}
public ArRobotConfigPacketReader(ArRobot robot) : this(AriaCSPINVOKE.new_ArRobotConfigPacketReader__SWIG_2(ArRobot.getCPtr(robot)), true)
{
}
public ArRatioInputJoydrive(ArRobot robot, ArActionRatioInput input, int priority, bool stopIfNoButtonPressed) : this(AriaCSPINVOKE.new_ArRatioInputJoydrive__SWIG_1(ArRobot.getCPtr(robot), ArActionRatioInput.getCPtr(input), priority, stopIfNoButtonPressed), true)
{
}
public static void Main(String[] argv)
{
Console.WriteLine("Starting Test");
Aria.init();
Console.WriteLine("argumentparser...");
ArArgumentBuilder argBuilder = new ArArgumentBuilder();
ArArgumentParser parser = new ArArgumentParser(argBuilder);
parser.loadDefaultArguments();
Console.WriteLine("arrobot...");
ArRobot robot = new ArRobot();
ArRobotConnector conn = new ArRobotConnector(parser, robot);
Console.WriteLine("Connecting to robot...");
if (!conn.connectRobot())
{
Console.WriteLine("Error: Could not connect to robot, exiting.");
Aria.exit(1);
}
Console.WriteLine("Connected to robot.");
if (!Aria.parseArgs())
{
Aria.logOptions();
Aria.exit(2);
}
robot.runAsync(true);
robot.lockObj();
Console.WriteLine("Sending command to move forward 1 meter...");
robot.enableMotors();
robot.move(1000);
robot.unlockObj();
Console.WriteLine("Sleeping for 5 seconds...");
ArUtil.sleep(5000);
robot.lockObj();
Console.WriteLine("Sending command to rotate 90 degrees...");
robot.setHeading(90);
robot.unlockObj();
Console.WriteLine("Sleeping for 5 seconds...");
ArUtil.sleep(5000);
robot.lockObj();
Console.WriteLine("Robot coords: robot.getX()=" + robot.getX() + ", robot.getY()=" + robot.getY() + ", robot.getTh()=" + robot.getTh());
ArPose p = robot.getPose();
Console.WriteLine(" pose.getX()=" + p.getX() + ", pose.getY()=" + p.getY() + ", pose.getTh()=" + p.getTh());
robot.unlockObj();
robot.lockObj();
Console.WriteLine("exiting.");
robot.stopRunning(true);
robot.unlockObj();
robot.lockObj();
robot.disconnect();
robot.unlockObj();
robot.Dispose();
conn.Dispose();
}
public ArGripper(ArRobot robot) : this(AriaCSPINVOKE.new_ArGripper__SWIG_1(ArRobot.getCPtr(robot)), true)
{
}
public ArGripper(ArRobot robot, int gripperType) : this(AriaCSPINVOKE.new_ArGripper__SWIG_0(ArRobot.getCPtr(robot), gripperType), true)
{
}
public ArRobotJoyHandler(ArRobot robot) : this(AriaCSPINVOKE.new_ArRobotJoyHandler(ArRobot.getCPtr(robot)), true)
{
}
public ArRobotConfigPacketReader(ArRobot robot, bool onlyOneRequest, ArFunctor packetedArrivedCB) : this(AriaCSPINVOKE.new_ArRobotConfigPacketReader__SWIG_0(ArRobot.getCPtr(robot), onlyOneRequest, ArFunctor.getCPtr(packetedArrivedCB)), true)
{
}
public ArRobotConfigPacketReader(ArRobot robot, bool onlyOneRequest) : this(AriaCSPINVOKE.new_ArRobotConfigPacketReader__SWIG_1(ArRobot.getCPtr(robot), onlyOneRequest), true)
{
}
public ArModeActs(ArRobot robot, string name, char key, char key2, ArACTS_1_2 acts) : this(AriaCSPINVOKE.new_ArModeActs__SWIG_0(ArRobot.getCPtr(robot), name, key, key2, ArACTS_1_2.getCPtr(acts)), true)
{
}
public void setRobot(ArRobot robot)
{
AriaCSPINVOKE.ArSyncLoop_setRobot(swigCPtr, ArRobot.getCPtr(robot));
}
public override ArActionDesired resolve(SWIGTYPE_p_std__multimapT_int_ArAction_p_t actions, ArRobot robot)
{
global::System.IntPtr cPtr = AriaCSPINVOKE.ArPriorityResolver_resolve__SWIG_1(swigCPtr, SWIGTYPE_p_std__multimapT_int_ArAction_p_t.getCPtr(actions), ArRobot.getCPtr(robot));
ArActionDesired ret = (cPtr == global::System.IntPtr.Zero) ? null : new ArActionDesired(cPtr, false);
return(ret);
}
public ArRatioInputKeydrive(ArRobot robot, ArActionRatioInput input, int priority) : this(AriaCSPINVOKE.new_ArRatioInputKeydrive__SWIG_1(ArRobot.getCPtr(robot), ArActionRatioInput.getCPtr(input), priority), true)
{
}
public ArActionGroupRatioDriveUnsafe(ArRobot robot) : this(AriaCSPINVOKE.new_ArActionGroupRatioDriveUnsafe(ArRobot.getCPtr(robot)), true)
{
}
public void setRobot(ArRobot robot)
{
AriaCSPINVOKE.ArP2Arm_setRobot(swigCPtr, ArRobot.getCPtr(robot));
}
public ArModePosition(ArRobot robot, string name, char key, char key2, ArAnalogGyro gyro) : this(AriaCSPINVOKE.new_ArModePosition__SWIG_0(ArRobot.getCPtr(robot), name, key, key2, ArAnalogGyro.getCPtr(gyro)), true)
{
}
public ArModeLaser(ArRobot robot, string name, char key, char key2, SWIGTYPE_p_ArSick obsolete) : this(AriaCSPINVOKE.new_ArModeLaser__SWIG_0(ArRobot.getCPtr(robot), name, key, key2, SWIGTYPE_p_ArSick.getCPtr(obsolete)), true)
{
}
public ArRatioInputRobotJoydrive(ArRobot robot, ArActionRatioInput input, int priority, bool requireDeadmanPushed) : this(AriaCSPINVOKE.new_ArRatioInputRobotJoydrive__SWIG_0(ArRobot.getCPtr(robot), ArActionRatioInput.getCPtr(input), priority, requireDeadmanPushed), true)
{
}
public bool open(ArRobot robot, uint port, string password)
{
bool ret = AriaCSPINVOKE.ArNetServer_open__SWIG_2(swigCPtr, ArRobot.getCPtr(robot), port, password);
return(ret);
}
public ArActionGroupColorFollow(ArRobot robot, ArACTS_1_2 acts, ArPTZ camera) : this(AriaCSPINVOKE.new_ArActionGroupColorFollow(ArRobot.getCPtr(robot), ArACTS_1_2.getCPtr(acts), ArPTZ.getCPtr(camera)), true)
{
}
public override void setRobot(ArRobot robot)
{
AriaCSPINVOKE.ArActionKeydrive_setRobot(swigCPtr, ArRobot.getCPtr(robot));
}
public ArActionGroupInput(ArRobot robot) : this(AriaCSPINVOKE.new_ArActionGroupInput(ArRobot.getCPtr(robot)), true)
{
}
