A gate that is part of the navigation challenge. More...
Public Member Functions | |
| Gate (const gazebo::physics::LinkPtr _leftMarkerModel, const gazebo::physics::LinkPtr _rightMarkerModel) | |
| Constructor. More... | |
| GateState | IsPoseInGate (const ignition::math::Pose3d &_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::LinkPtr | leftMarkerModel |
| The left marker model. More... | |
| ignition::math::Pose3d | 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::LinkPtr | 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 109 of file navigation_scoring_plugin.hh.
| NavigationScoringPlugin::Gate::Gate | ( | const gazebo::physics::LinkPtr | _leftMarkerModel, |
| const gazebo::physics::LinkPtr | _rightMarkerModel | ||
| ) |
Constructor.
| [in] | _leftMarkerName | The left marker's model. |
| [in] | _rightMarkerName | The right marker's model. |
Definition at line 25 of file navigation_scoring_plugin.cc.
| NavigationScoringPlugin::GateState NavigationScoringPlugin::Gate::IsPoseInGate | ( | const ignition::math::Pose3d & | _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 70 of file navigation_scoring_plugin.cc.
| void NavigationScoringPlugin::Gate::Update | ( | ) |
Recalculate the pose and width of the gate.
Definition at line 35 of file navigation_scoring_plugin.cc.
| gazebo::physics::LinkPtr NavigationScoringPlugin::Gate::leftMarkerModel |
The left marker model.
Definition at line 127 of file navigation_scoring_plugin.hh.
| ignition::math::Pose3d 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 135 of file navigation_scoring_plugin.hh.
| gazebo::physics::LinkPtr NavigationScoringPlugin::Gate::rightMarkerModel |
The right marker model.
Definition at line 130 of file navigation_scoring_plugin.hh.
| GateState NavigationScoringPlugin::Gate::state = GateState::VEHICLE_OUTSIDE |
The state of this gate.
Definition at line 141 of file navigation_scoring_plugin.hh.
| double NavigationScoringPlugin::Gate::width |
The width of the gate in meters.
Definition at line 138 of file navigation_scoring_plugin.hh.