robot_model_services::RobotModel Class Reference

RobotModel generalizes a robot model. More...

#include <RobotModel.hpp>

Inheritance diagram for robot_model_services::RobotModel:

List of all members.

Public Member Functions
virtual geometry_msgs::Pose	calculateCameraPose (const RobotStatePtr &sourceRobotState)=0
	Uses a given RobotState to calculate the camera frame.
RobotStatePtr	calculateRobotState (const robot_model_services::SimpleVector3 &position, const robot_model_services::SimpleQuaternion &orientation)
	calculates the target robot state by assuming the saved current state of the roboter as source state
virtual RobotStatePtr	calculateRobotState (const RobotStatePtr &sourceRobotState, const SimpleVector3 &position, const SimpleQuaternion &orientation)=0
	calculates the target robot state
float	getBase_RotationalMovementCosts (const RobotStatePtr &targetRobotState)
virtual float	getBase_RotationalMovementCosts (const RobotStatePtr &sourceRobotState, const RobotStatePtr &targetRobotState)=0
float	getBase_TranslationalMovementCosts (const RobotStatePtr &targetRobotState)
virtual float	getBase_TranslationalMovementCosts (const RobotStatePtr &sourceRobotState, const RobotStatePtr &targetRobotState)=0
virtual geometry_msgs::Pose	getCameraPose ()=0
RobotStatePtr	getCurrentRobotState ()
virtual float	getDistance (const geometry_msgs::Point &sourcePosition, const geometry_msgs::Point &targetPosition)=0
virtual nav_msgs::Path	getNavigationPath (const geometry_msgs::Point &sourcePosition, const geometry_msgs::Point &targetPosition, double sourceRotationBase, double targetRotationBase)=0
virtual nav_msgs::Path	getNavigationPath (const geometry_msgs::Point &sourcePosition, const geometry_msgs::Point &targetPosition)=0
float	getPTU_PanMovementCosts (const RobotStatePtr &targetRobotState)
virtual float	getPTU_PanMovementCosts (const RobotStatePtr &sourceRobotState, const RobotStatePtr &targetRobotState)=0
float	getPTU_TiltMovementCosts (const RobotStatePtr &targetRobotState)
virtual float	getPTU_TiltMovementCosts (const RobotStatePtr &sourceRobotState, const RobotStatePtr &targetRobotState)=0
virtual geometry_msgs::Pose	getRobotPose ()=0
virtual bool	isPoseReachable (const robot_model_services::SimpleVector3 &position, const robot_model_services::SimpleQuaternion &orientation)=0
virtual bool	isPositionReachable (const geometry_msgs::Point &sourcePosition, const geometry_msgs::Point &targetPosition)=0
	RobotModel ()
	the constructor of the RobotModel object
void	setCurrentRobotState (const RobotStatePtr &currentRobotState)
virtual	~RobotModel ()
	the destructor of the RobotModel object
Private Attributes
RobotStatePtr	mCurrentRobotState

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Detailed Description

RobotModel generalizes a robot model.

Author:

Ralf Schleicher

Date:

2014

Version:

1.0

Copyright:

GNU Public License

Definition at line 37 of file RobotModel.hpp.

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Constructor & Destructor Documentation

robot_model_services::RobotModel::RobotModel

(

)

the constructor of the RobotModel object

Definition at line 23 of file RobotModel.cpp.

robot_model_services::RobotModel::~RobotModel

(

)

[virtual]

the destructor of the RobotModel object

Definition at line 24 of file RobotModel.cpp.

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Member Function Documentation

virtual geometry_msgs::Pose robot_model_services::RobotModel::calculateCameraPose

(

const RobotStatePtr &

sourceRobotState

)

[pure virtual]

Uses a given RobotState to calculate the camera frame.

Implemented in robot_model_services::MILDRobotModel.

RobotStatePtr robot_model_services::RobotModel::calculateRobotState	(	const robot_model_services::SimpleVector3 &	position,
		const robot_model_services::SimpleQuaternion &	orientation
	)

calculates the target robot state by assuming the saved current state of the roboter as source state

Parameters:

position	the position
orientation	the orientation

Returns:

the new robot state

Definition at line 26 of file RobotModel.cpp.

virtual RobotStatePtr robot_model_services::RobotModel::calculateRobotState	(	const RobotStatePtr &	sourceRobotState,
		const SimpleVector3 &	position,
		const SimpleQuaternion &	orientation
	)		[pure virtual]

calculates the target robot state

Parameters:

currentRobotState	the current robot state
position	the position
orientation	the orientation

Returns:

the new robot state

Implemented in robot_model_services::MILDRobotModelWithExactIK, and robot_model_services::MILDRobotModelWithApproximatedIK.

float robot_model_services::RobotModel::getBase_RotationalMovementCosts

(

const RobotStatePtr &

targetRobotState

)

Definition at line 42 of file RobotModel.cpp.

virtual float robot_model_services::RobotModel::getBase_RotationalMovementCosts	(	const RobotStatePtr &	sourceRobotState,
		const RobotStatePtr &	targetRobotState
	)		[pure virtual]

Implemented in robot_model_services::MILDRobotModel.

float robot_model_services::RobotModel::getBase_TranslationalMovementCosts

(

const RobotStatePtr &

targetRobotState

)

Parameters:

targetRobotState

the target state

Returns:

the rating

Definition at line 30 of file RobotModel.cpp.

virtual float robot_model_services::RobotModel::getBase_TranslationalMovementCosts	(	const RobotStatePtr &	sourceRobotState,
		const RobotStatePtr &	targetRobotState
	)		[pure virtual]

Parameters:

sourceRobotState	the source state
targetRobotState	the target state

Returns:

the rating to move to the pose.

Implemented in robot_model_services::MILDRobotModel.

virtual geometry_msgs::Pose robot_model_services::RobotModel::getCameraPose

(

)

[pure virtual]

Implemented in robot_model_services::MILDRobotModel.

RobotStatePtr robot_model_services::RobotModel::getCurrentRobotState

(

)

Returns:

the current robot state ptr

Definition at line 50 of file RobotModel.cpp.

virtual float robot_model_services::RobotModel::getDistance	(	const geometry_msgs::Point &	sourcePosition,
		const geometry_msgs::Point &	targetPosition
	)		[pure virtual]

Implemented in robot_model_services::MILDRobotModel.

virtual nav_msgs::Path robot_model_services::RobotModel::getNavigationPath	(	const geometry_msgs::Point &	sourcePosition,
		const geometry_msgs::Point &	targetPosition,
		double	sourceRotationBase,
		double	targetRotationBase
	)		[pure virtual]

Client used for communication with the global_planner to calculate movement costs

Implemented in robot_model_services::MILDRobotModel.

virtual nav_msgs::Path robot_model_services::RobotModel::getNavigationPath	(	const geometry_msgs::Point &	sourcePosition,
		const geometry_msgs::Point &	targetPosition
	)		[pure virtual]

Implemented in robot_model_services::MILDRobotModel.

float robot_model_services::RobotModel::getPTU_PanMovementCosts

(

const RobotStatePtr &

targetRobotState

)

Definition at line 34 of file RobotModel.cpp.

virtual float robot_model_services::RobotModel::getPTU_PanMovementCosts	(	const RobotStatePtr &	sourceRobotState,
		const RobotStatePtr &	targetRobotState
	)		[pure virtual]

Implemented in robot_model_services::MILDRobotModel.

float robot_model_services::RobotModel::getPTU_TiltMovementCosts

(

const RobotStatePtr &

targetRobotState

)

Definition at line 38 of file RobotModel.cpp.

virtual float robot_model_services::RobotModel::getPTU_TiltMovementCosts	(	const RobotStatePtr &	sourceRobotState,
		const RobotStatePtr &	targetRobotState
	)		[pure virtual]

Implemented in robot_model_services::MILDRobotModel.

virtual geometry_msgs::Pose robot_model_services::RobotModel::getRobotPose

(

)

[pure virtual]

Implemented in robot_model_services::MILDRobotModel.

virtual bool robot_model_services::RobotModel::isPoseReachable	(	const robot_model_services::SimpleVector3 &	position,
		const robot_model_services::SimpleQuaternion &	orientation
	)		[pure virtual]

Parameters:

orientation

the orientation to reach

Returns:

if the orienation is reachable or not

Implemented in robot_model_services::MILDRobotModel.

virtual bool robot_model_services::RobotModel::isPositionReachable	(	const geometry_msgs::Point &	sourcePosition,
		const geometry_msgs::Point &	targetPosition
	)		[pure virtual]

Implemented in robot_model_services::MILDRobotModel.

void robot_model_services::RobotModel::setCurrentRobotState

(

const RobotStatePtr &

currentRobotState

)

Parameters:

currentRobotState

sets the current robot state ptr

Definition at line 46 of file RobotModel.cpp.

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Member Data Documentation

RobotStatePtr robot_model_services::RobotModel::mCurrentRobotState [private]

Definition at line 39 of file RobotModel.hpp.

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

• RobotModel.hpp
• RobotModel.cpp