A gate that is part of the navigation challenge. More...
Public Member Functions | |
| Gate (const gazebo::physics::ModelPtr _leftMarkerModel, const gazebo::physics::ModelPtr _rightMarkerModel) | |
| Constructor. More... | |
| GateState | IsPoseInGate (const gazebo::math::Pose &_robotWorldPose) const |
| Where is the given robot pose with respect to the gate? More... | |
| void | Update () |
| Recalculate the pose and width of the gate. More... | |
Public Attributes | |
| gazebo::physics::ModelPtr | leftMarkerModel |
| The left marker model. More... | |
| gazebo::math::Pose | pose |
| The center of the gate in the world frame. Note that the roll and pitch are ignored. Only yaw is relevant and it points into the direction in which the gate should be crossed. More... | |
| gazebo::physics::ModelPtr | rightMarkerModel |
| The right marker model. More... | |
| GateState | state = GateState::VEHICLE_OUTSIDE |
| The state of this gate. More... | |
| double | width |
| The width of the gate in meters. More... | |
A gate that is part of the navigation challenge.
Definition at line 106 of file navigation_scoring_plugin.hh.
| NavigationScoringPlugin::Gate::Gate | ( | const gazebo::physics::ModelPtr | _leftMarkerModel, |
| const gazebo::physics::ModelPtr | _rightMarkerModel | ||
| ) |
Constructor.
| [in] | _leftMarkerName | The left marker's model. |
| [in] | _rightMarkerName | The right marker's model. |
Definition at line 24 of file navigation_scoring_plugin.cc.
| NavigationScoringPlugin::GateState NavigationScoringPlugin::Gate::IsPoseInGate | ( | const gazebo::math::Pose & | _robotWorldPose | ) | const |
Where is the given robot pose with respect to the gate?
| _robotWorldPose | Pose of the robot, in the world frame. |
Definition at line 64 of file navigation_scoring_plugin.cc.
| void NavigationScoringPlugin::Gate::Update | ( | ) |
Recalculate the pose and width of the gate.
Definition at line 34 of file navigation_scoring_plugin.cc.
| gazebo::physics::ModelPtr NavigationScoringPlugin::Gate::leftMarkerModel |
The left marker model.
Definition at line 124 of file navigation_scoring_plugin.hh.
| gazebo::math::Pose NavigationScoringPlugin::Gate::pose |
The center of the gate in the world frame. Note that the roll and pitch are ignored. Only yaw is relevant and it points into the direction in which the gate should be crossed.
Definition at line 132 of file navigation_scoring_plugin.hh.
| gazebo::physics::ModelPtr NavigationScoringPlugin::Gate::rightMarkerModel |
The right marker model.
Definition at line 127 of file navigation_scoring_plugin.hh.
| GateState NavigationScoringPlugin::Gate::state = GateState::VEHICLE_OUTSIDE |
The state of this gate.
Definition at line 138 of file navigation_scoring_plugin.hh.
| double NavigationScoringPlugin::Gate::width |
The width of the gate in meters.
Definition at line 135 of file navigation_scoring_plugin.hh.