robot_model_services::RobotModel Class Reference

RobotModel generalizes a robot model. More...

#include <RobotModel.hpp>

Inheritance diagram for robot_model_services::RobotModel:

Public Member Functions
virtual geometry_msgs::Pose	calculateCameraPose (const RobotStatePtr &sourceRobotState)=0
	Uses a given RobotState to calculate the camera frame. More...
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 More...
virtual RobotStatePtr	calculateRobotState (const RobotStatePtr &sourceRobotState, const SimpleVector3 &position, const SimpleQuaternion &orientation)=0
	calculates the target robot state More...
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 More...
void	setCurrentRobotState (const RobotStatePtr &currentRobotState)
virtual	~RobotModel ()
	the destructor of the RobotModel object More...

Private Attributes
RobotStatePtr	mCurrentRobotState

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.

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.

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.

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