ModelPosition class More...

#include <stage.hh>

Inheritance diagram for Stg::ModelPosition:

Classes
class	PoseVis
class	Waypoint
class	WaypointVis
Public Types
enum	ControlMode { CONTROL_ACCELERATION, CONTROL_VELOCITY, CONTROL_POSITION }
enum	DriveMode { DRIVE_DIFFERENTIAL, DRIVE_OMNI, DRIVE_CAR }
enum	LocalizationMode { LOCALIZATION_GPS, LOCALIZATION_ODOM }
Public Member Functions
Velocity	GetVelocity () const
void	GoTo (double x, double y, double a)
void	GoTo (Pose pose)
virtual void	Load ()
	ModelPosition (World world, Model parent, const std::string &type)
virtual void	Move ()
void	SetAcceleration (double x, double y, double a)
void	SetOdom (Pose odom)
void	SetSpeed (double x, double y, double a)
void	SetSpeed (Velocity vel)
void	SetTurnSpeed (double a)
void	SetVelocity (const Velocity &val)
void	SetXSpeed (double x)
void	SetYSpeed (double y)
void	SetZSpeed (double z)
virtual void	Shutdown ()
virtual void	Startup ()
void	Stop ()
virtual void	Update ()
	~ModelPosition ()
Public Attributes
Bounds	acceleration_bounds [4]
Pose	est_origin
	global origin of the local coordinate system
Pose	est_pose
	position estimate in local coordinates
Pose	est_pose_error
	estimated error in position estimate
Stg::ModelPosition::PoseVis	posevis
Bounds	velocity_bounds [4]
std::vector< Waypoint >	waypoints
Stg::ModelPosition::WaypointVis	wpvis
Private Attributes
ControlMode	control_mode
DriveMode	drive_mode
Pose	goal
	the current velocity or pose to reach, depending on the value of control_mode
Velocity	integration_error
	errors to apply in simple odometry model
LocalizationMode	localization_mode
	global or local mode
Velocity	velocity
double	wheelbase
Friends
class	Canvas

Detailed Description

ModelPosition class

Definition at line 2927 of file stage.hh.

Member Enumeration Documentation

enum Stg::ModelPosition::ControlMode

Define a position control method

Enumerator:

CONTROL_ACCELERATION
CONTROL_VELOCITY
CONTROL_POSITION

Definition at line 2933 of file stage.hh.

enum Stg::ModelPosition::DriveMode

Define a driving method

Enumerator:

DRIVE_DIFFERENTIAL
DRIVE_OMNI
DRIVE_CAR

Definition at line 2946 of file stage.hh.

enum Stg::ModelPosition::LocalizationMode

Define a localization method

Enumerator:

LOCALIZATION_GPS
LOCALIZATION_ODOM

Definition at line 2940 of file stage.hh.

Constructor & Destructor Documentation

ModelPosition::ModelPosition	(	World *	world,
		Model *	parent,
		const std::string &	type
	)

Definition at line 98 of file model_position.cc.

ModelPosition::~ModelPosition ( void )

Definition at line 150 of file model_position.cc.

Member Function Documentation

Velocity Stg::ModelPosition::GetVelocity ( ) const [inline]

Get (a copy of) the model's velocity in its local reference frame.

Definition at line 2984 of file stage.hh.

void ModelPosition::GoTo	(	double	x,
		double	y,
		double	a
	)

Sets the control mode to CONTROL_POSITION and sets the goal pose

Definition at line 652 of file model_position.cc.

void ModelPosition::GoTo ( Pose pose )

Definition at line 661 of file model_position.cc.

void ModelPosition::Load ( void ) [virtual]

configure a model by reading from the current world file

Reimplemented from Stg::Model.

Definition at line 162 of file model_position.cc.

void ModelPosition::Move ( void ) [virtual]

Definition at line 535 of file model_position.cc.

void ModelPosition::SetAcceleration	(	double	x,
		double	y,
		double	a
	)

Sets the control mode to CONTROL_ACCELERATION and sets the current accelerations to x, y (meters per second squared) and a (radians per second squared)

Definition at line 667 of file model_position.cc.

void ModelPosition::SetOdom ( Pose odom )

Set the current pose estimate.

Set the current odometry estimate

Definition at line 679 of file model_position.cc.