Classes | Public Types | Public Member Functions | Public Attributes | Private Attributes | Friends
Stg::ModelPosition Class Reference

ModelPosition class More...

#include <stage.hh>

Inheritance diagram for Stg::ModelPosition:
Inheritance graph
[legend]

List of all members.

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< Waypointwaypoints
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

Define a position control method

Enumerator:
CONTROL_ACCELERATION 
CONTROL_VELOCITY 
CONTROL_POSITION 

Definition at line 2933 of file stage.hh.

Define a driving method

Enumerator:
DRIVE_DIFFERENTIAL 
DRIVE_OMNI 
DRIVE_CAR 

Definition at line 2946 of file stage.hh.

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.

Definition at line 150 of file model_position.cc.


Member Function Documentation

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.

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

Sets the control_mode to CONTROL_VELOCITY and sets the goal velocity.

Definition at line 610 of file model_position.cc.

Definition at line 643 of file model_position.cc.

void ModelPosition::SetTurnSpeed ( double  a)

Definition at line 637 of file model_position.cc.

void ModelPosition::SetVelocity ( const Velocity val)

Definition at line 155 of file model_position.cc.

void ModelPosition::SetXSpeed ( double  x)

Definition at line 619 of file model_position.cc.

void ModelPosition::SetYSpeed ( double  y)

Definition at line 625 of file model_position.cc.

void ModelPosition::SetZSpeed ( double  z)

Definition at line 631 of file model_position.cc.

void ModelPosition::Shutdown ( void  ) [virtual]

Reimplemented from Stg::Model.

Definition at line 592 of file model_position.cc.

void ModelPosition::Startup ( void  ) [virtual]

Reimplemented from Stg::Model.

Definition at line 583 of file model_position.cc.

Set velocity along all axes to to zero.

Definition at line 605 of file model_position.cc.

void ModelPosition::Update ( void  ) [virtual]

Reimplemented from Stg::Model.

Definition at line 262 of file model_position.cc.


Friends And Related Function Documentation

friend class Canvas [friend]

Reimplemented from Stg::Model.

Definition at line 2929 of file stage.hh.


Member Data Documentation

Set the min and max acceleration in all 4 DOF

Definition at line 2963 of file stage.hh.

Definition at line 2955 of file stage.hh.

Definition at line 2956 of file stage.hh.

global origin of the local coordinate system

Definition at line 3046 of file stage.hh.

position estimate in local coordinates

Definition at line 3044 of file stage.hh.

estimated error in position estimate

Definition at line 3045 of file stage.hh.

the current velocity or pose to reach, depending on the value of control_mode

Definition at line 2954 of file stage.hh.

errors to apply in simple odometry model

Definition at line 2958 of file stage.hh.

global or local mode

Definition at line 2957 of file stage.hh.

Definition at line 2953 of file stage.hh.

Set the min and max velocity in all 4 DOF

Definition at line 2966 of file stage.hh.

Definition at line 3001 of file stage.hh.

Definition at line 2959 of file stage.hh.


The documentation for this class was generated from the following files:


stage
Author(s): Richard Vaughan , Brian Gerkey , Reed Hedges , Andrew Howard , Toby Collett , Pooya Karimian , Jeremy Asher , Alex Couture-Beil , Geoff Biggs , Rich Mattes , Abbas Sadat
autogenerated on Thu Aug 27 2015 15:20:57