Stg::ModelPosition Class Reference

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 Types inherited from Stg::Model
enum	callback_type_t {   CB_FLAGDECR, CB_FLAGINCR, CB_GEOM, CB_INIT,   CB_LOAD, CB_PARENT, CB_POSE, CB_SAVE,   CB_SHUTDOWN, CB_STARTUP, CB_UPDATE, CB_VELOCITY,   __CB_TYPE_COUNT }

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 Member Functions inherited from Stg::Model
Block *	AddBlockRect (meters_t x, meters_t y, meters_t dx, meters_t dy, meters_t dz)
void	AddCallback (callback_type_t type, model_callback_t cb, void *user)
void	AddFlag (Flag *flag)
void	AddToPose (const Pose &pose)
void	AddToPose (double dx, double dy, double dz, double da)
void	AddVisualizer (Visualizer *custom_visual, bool on_by_default)
void	BecomeParentOf (Model *child)
int	CallCallbacks (callback_type_t type)
void	ClearBlocks ()
bool	DataIsFresh () const
void	Disable ()
void	Enable ()
PowerPack *	FindPowerPack () const
Model *	GetChild (const std::string &name) const
Color	GetColor () const
usec_t	GetEnergyInterval () const
int	GetFiducialReturn () const
unsigned int	GetFlagCount () const
Geom	GetGeom () const
Pose	GetGlobalPose () const
Velocity	GetGlobalVelocity () const
uint32_t	GetId () const
usec_t	GetInterval ()
kg_t	GetMassOfChildren () const
const std::string &	GetModelType () const
Pose	GetPose () const
std::string	GetSayString ()
unsigned int	GetSubscriptionCount () const
kg_t	GetTotalMass () const
Model *	GetUnsubscribedModelOfType (const std::string &type) const
Model *	GetUnusedModelOfType (const std::string &type)
usec_t	GetUpdateInterval () const
World *	GetWorld () const
Pose	GlobalToLocal (const Pose &pose) const
bool	HasSubscribers () const
void	InitControllers ()
bool	IsAntecedent (const Model *testmod) const
bool	IsDescendent (const Model *testmod) const
bool	IsRelated (const Model *testmod) const
void	Load (Worldfile *wf, int wf_entity)
void	LoadBlock (Worldfile *wf, int entity)
void	LoadControllerModule (const char *lib)
Pose	LocalToGlobal (const Pose &pose) const
point_t	LocalToGlobal (const point_t &pt) const
std::vector< point_int_t >	LocalToPixels (const std::vector< point_t > &local) const
	Model (World *world, Model *parent=NULL, const std::string &type="model", const std::string &name="")
	Model ()
void	NeedRedraw ()
Model *	Parent () const
void	PlaceInFreeSpace (meters_t xmin, meters_t xmax, meters_t ymin, meters_t ymax)
virtual void	PopColor ()
Flag *	PopFlag ()
std::string	PoseString ()
virtual void	Print (char *prefix) const
virtual const char *	PrintWithPose () const
virtual void	PushColor (Color col)
virtual void	PushColor (double r, double g, double b, double a)
void	PushFlag (Flag *flag)
void	Rasterize (uint8_t *data, unsigned int width, unsigned int height, meters_t cellwidth, meters_t cellheight)
void	Redraw ()
int	RemoveCallback (callback_type_t type, model_callback_t callback)
void	RemoveFlag (Flag *flag)
void	RemoveVisualizer (Visualizer *custom_visual)
Model *	Root ()
virtual void	Save ()
void	Say (const std::string &str)
void	SetBlobReturn (bool val)
void	SetBoundary (bool val)
void	SetColor (Color col)
void	SetFiducialKey (int key)
void	SetFiducialReturn (int fid)
void	SetFriction (double friction)
void	SetGeom (const Geom &src)
void	SetGlobalPose (const Pose &gpose)
void	SetGlobalVelocity (const Velocity &gvel)
void	SetGravityReturn (bool val)
void	SetGripperReturn (bool val)
void	SetGuiGrid (bool val)
void	SetGuiMove (bool val)
void	SetGuiNose (bool val)
void	SetGuiOutline (bool val)
void	SetMapResolution (meters_t res)
void	SetMass (kg_t mass)
void	SetObstacleReturn (bool val)
int	SetParent (Model *newparent)
void	SetPose (const Pose &pose)
void	SetRangerReturn (double val)
void	SetRangerReturn (bool val)
void	SetStall (bool stall)
void	SetStickyReturn (bool val)
virtual void	SetToken (const std::string &str)
void	SetWatts (watts_t watts)
void	SetWorldfile (Worldfile *wf, int wf_entity)
bool	Stalled () const
void	Subscribe ()
void	Unsubscribe ()
virtual	~Model ()
Public Member Functions inherited from Stg::Ancestor
virtual void	AddChild (Model *mod)
	Ancestor ()
void	ForEachDescendant (model_callback_t func, void *arg)
std::vector< Model * > &	GetChildren ()
void *	GetProperty (std::string &key)
virtual void	RemoveChild (Model *mod)
void	SetProperty (std::string &key, void *value)
const char *	Token () const
const std::string &	TokenStr () const
virtual	~Ancestor ()

Public Attributes
Bounds	acceleration_bounds [4]
Pose	est_origin
	global origin of the local coordinate system More...
Pose	est_pose
	position estimate in local coordinates More...
Pose	est_pose_error
	estimated error in position estimate More...
Stg::ModelPosition::PoseVis	posevis
Bounds	velocity_bounds [4]
std::vector< Waypoint >	waypoints
Stg::ModelPosition::WaypointVis	wpvis
Public Attributes inherited from Stg::Model
class Stg::Model::Visibility	vis

Private Attributes
ControlMode	control_mode
DriveMode	drive_mode
Pose	goal
	the current velocity or pose to reach, depending on the value of control_mode More...
Velocity	integration_error
	errors to apply in simple odometry model More...
LocalizationMode	localization_mode
	global or local mode More...
Velocity	velocity
double	wheelbase

Friends
class	Canvas

Additional Inherited Members
Static Public Member Functions inherited from Stg::Model
static Model *	LookupId (uint32_t id)
Static Public Attributes inherited from Stg::Model
static std::map< std::string, creator_t >	name_map
Protected Member Functions inherited from Stg::Model
void	AppendTouchingModels (std::set< Model * > &touchers)
void	CallUpdateCallbacks (void)
void	CommitTestedPose ()
virtual void	DataVisualize (Camera *cam)
void	DataVisualizeTree (Camera *cam)
virtual void	DrawBlocks ()
void	DrawBlocksTree ()
void	DrawBoundingBox ()
void	DrawBoundingBoxTree ()
void	DrawFlagList ()
void	DrawGrid ()
void	DrawImage (uint32_t texture_id, Camera *cam, float alpha, double width=1.0, double height=1.0)
void	DrawOrigin ()
void	DrawOriginTree ()
virtual void	DrawPicker ()
void	DrawPose (Pose pose)
virtual void	DrawSelected (void)
virtual void	DrawStatus (Camera *cam)
void	DrawStatusTree (Camera *cam)
void	DrawTrailArrows ()
void	DrawTrailBlocks ()
void	DrawTrailFootprint ()
void	Map (unsigned int layer)
void	Map ()
void	MapFromRoot (unsigned int layer)
void	MapWithChildren (unsigned int layer)
meters_t	ModelHeight () const
void	PopCoords ()
void	PushLocalCoords ()
RaytraceResult	Raytrace (const Pose &pose, const meters_t range, const ray_test_func_t func, const void *arg, const bool ztest=true)
void	Raytrace (const Pose &pose, const meters_t range, const radians_t fov, const ray_test_func_t func, const void *arg, RaytraceResult *samples, const uint32_t sample_count, const bool ztest=true)
RaytraceResult	Raytrace (const radians_t bearing, const meters_t range, const ray_test_func_t func, const void *arg, const bool ztest=true)
void	Raytrace (const radians_t bearing, const meters_t range, const radians_t fov, const ray_test_func_t func, const void *arg, RaytraceResult *samples, const uint32_t sample_count, const bool ztest=true)
void	RegisterOption (Option *opt)
Model *	TestCollision ()
void	UnMap (unsigned int layer)
void	UnMap ()
void	UnMapFromRoot (unsigned int layer)
void	UnMapWithChildren (unsigned int layer)
virtual void	UpdateCharge ()
void	UpdateTrail ()
Protected Member Functions inherited from Stg::Ancestor
Ancestor &	Load (Worldfile *wf, int section)
void	Save (Worldfile *wf, int section)
Static Protected Member Functions inherited from Stg::Model
static int	UpdateWrapper (Model *mod, void *arg)
Protected Attributes inherited from Stg::Model
bool	alwayson
BlockGroup	blockgroup
int	blocks_dl
int	boundary
std::vector< std::set< cb_t > >	callbacks
Color	color
std::list< Visualizer * >	cv_list
bool	data_fresh
bool	disabled
unsigned int	event_queue_num
std::list< Flag * >	flag_list
double	friction
Geom	geom
class Stg::Model::GuiState	gui
bool	has_default_block
uint32_t	id
usec_t	interval
	time between updates in usec More...
usec_t	interval_energy
	time between updates of powerpack in usec More...
usec_t	last_update
	time of last update in us More...
bool	log_state
	iff true, model state is logged More...
meters_t	map_resolution
kg_t	mass
Model *	parent
Pose	pose
PowerPack *	power_pack
std::list< PowerPack * >	pps_charging
Stg::Model::RasterVis	rastervis
bool	rebuild_displaylist
	iff true, regenerate block display list before redraw More...
std::string	say_string
	if non-empty, this string is displayed in the GUI More...
bool	stack_children
	whether child models should be stacked on top of this model or not More...
bool	stall
	Set to true iff the model collided with something else. More...
int	subs
	the number of subscriptions to this model More...
bool	thread_safe
std::vector< TrailItem >	trail
unsigned int	trail_index
const std::string	type
bool	used
	TRUE iff this model has been returned by GetUnusedModelOfType() More...
watts_t	watts
	power consumed by this model More...
watts_t	watts_give
watts_t	watts_take
Worldfile *	wf
int	wf_entity
World *	world
WorldGui *	world_gui
Protected Attributes inherited from Stg::Ancestor
std::map< std::string, unsigned int >	child_type_counts
std::vector< Model * >	children
bool	debug
std::map< std::string, void * >	props
std::string	token
Static Protected Attributes inherited from Stg::Model
static uint64_t	trail_interval
static unsigned int	trail_length

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.

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.

void ModelPosition::SetSpeed

(

Velocity

vel

)

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.

void ModelPosition::Stop

(

)

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

Definition at line 2929 of file stage.hh.

Member Data Documentation

Bounds Stg::ModelPosition::acceleration_bounds[4]

Set the min and max acceleration in all 4 DOF

Definition at line 2963 of file stage.hh.

ControlMode Stg::ModelPosition::control_mode

private

Definition at line 2955 of file stage.hh.

DriveMode Stg::ModelPosition::drive_mode

private

Definition at line 2956 of file stage.hh.

Pose Stg::ModelPosition::est_origin

global origin of the local coordinate system

Definition at line 3046 of file stage.hh.

Pose Stg::ModelPosition::est_pose

position estimate in local coordinates

Definition at line 3044 of file stage.hh.

Pose Stg::ModelPosition::est_pose_error

estimated error in position estimate

Definition at line 3045 of file stage.hh.

Pose Stg::ModelPosition::goal

private

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

Definition at line 2954 of file stage.hh.

Velocity Stg::ModelPosition::integration_error

private

errors to apply in simple odometry model

Definition at line 2958 of file stage.hh.

LocalizationMode Stg::ModelPosition::localization_mode

private

global or local mode

Definition at line 2957 of file stage.hh.

Stg::ModelPosition::PoseVis Stg::ModelPosition::posevis

Velocity Stg::ModelPosition::velocity

private

Definition at line 2953 of file stage.hh.

Bounds Stg::ModelPosition::velocity_bounds[4]

Set the min and max velocity in all 4 DOF

Definition at line 2966 of file stage.hh.

std::vector<Waypoint> Stg::ModelPosition::waypoints

Definition at line 3001 of file stage.hh.

double Stg::ModelPosition::wheelbase

private

Definition at line 2959 of file stage.hh.

Stg::ModelPosition::WaypointVis Stg::ModelPosition::wpvis

---

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

• stage.hh
• model_position.cc