A plugin for computing the score of the station keeping task. This plugin derives from the generic ScoringPlugin class. Refer to that plugin for an explanation of the four states defined (Initial, Ready, Running and Finished) as well as other required SDF elements. More...

#include <stationkeeping_scoring_plugin.hh>

Inheritance diagram for StationkeepingScoringPlugin:

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Public Member Functions
void	Load (gazebo::physics::WorldPtr _world, sdf::ElementPtr _sdf)

	StationkeepingScoringPlugin ()
	Constructor. More...

Public Member Functions inherited from ScoringPlugin
void	Exit ()
	Shutdown Gazebo and ROS. More...

	ScoringPlugin ()
	Class constructor. More...

Private Member Functions
void	OnReady () override
	Callback executed when the task state transition into "ready". More...

void	OnRunning () override
	Callback executed when the task state transition into "running". More...

void	PublishGoal ()
	Publish the goal pose. More...

void	Update ()
	Callback executed at every world update. More...

Private Attributes
double	goalLat
	Goal pose in spherical (WGS84) coordinates. More...

double	goalLon
	Goal pose in spherical (WGS84) coordinates. More...

ros::Publisher	goalPub
	Publisher for the goal. More...

std::string	goalTopic = "/vrx/station_keeping/goal"
	Topic where the task stats are published. More...

double	goalX
	Goal pose in local (Gazebo) coordinates. More...

double	goalY
	Goal pose in local (Gazebo) coordinates. More...

double	goalYaw
	Goal pose in local (Gazebo) coordinates. More...

double	meanError
	Cumulative 2D RMS error in meters. More...

ros::Publisher	meanErrorPub
	Publisher for the current mean error. More...

std::string	meanErrorTopic = "/vrx/station_keeping/rms_error"
	Topic where mean pose error is published. More...

double	poseError
	Combined 2D pose error (distance and yaw). More...

ros::Publisher	poseErrorPub
	Publisher for the combined 2D pose error. More...

std::string	poseErrorTopic = "/vrx/station_keeping/pose_error"
	Topic where 2D pose error is published. More...

std::unique_ptr< ros::NodeHandle >	rosNode
	ROS node handle. More...

unsigned int	sampleCount = 0
	Number of instant pose error scores calculated so far . More...

gazebo::common::Timer	timer
	Timer used to calculate the elapsed time docked in the bay. More...

double	totalPoseError = 0
	Sum of all pose error scores calculated so far. More...

gazebo::event::ConnectionPtr	updateConnection
	Pointer to the update event connection. More...

WaypointMarkers	waypointMarkers
	Waypoint visualization markers. More...

Additional Inherited Members
Protected Member Functions inherited from ScoringPlugin
gazebo::common::Time	ElapsedTime () const
	Elapsed time in the running state. More...

void	Finish ()
	Finish the current task. This will set the "finished" flag in the task message to true. More...

double	GetRunningStateDuration ()
	Get running duration. More...

double	GetTimeoutScore ()
	Get the timeoutScore. More...

void	Load (gazebo::physics::WorldPtr _world, sdf::ElementPtr _sdf)

virtual void	ReleaseVehicle ()
	Tries to release the vehicle in case is locked. More...

gazebo::common::Time	RemainingTime () const
	Remaining time in the running state. More...

double	Score () const
	Get the current score. More...

void	SetScore (double _newScore)
	Set the score. More...

void	SetTimeoutScore (double _timeoutScore)
	Set the score in case of timeout. More...

std::string	TaskName () const
	Get the task name. More...

std::string	TaskState () const
	Get the task state. More...

Protected Attributes inherited from ScoringPlugin
gazebo::common::Time	lastCollisionTime
	Last collision time. More...

double	runningStateDuration = 300.0
	Duration (seconds) of the running state (max task time). More...

vrx_gazebo::Task	taskMsg
	The next task message to be published. More...

std::string	taskName = "undefined"
	The name of the task. More...

ros::Publisher	taskPub
	Publisher for the task state. More...

gazebo::physics::ModelPtr	vehicleModel
	Pointer to the vehicle to score. More...

std::string	vehicleName
	The name of the vehicle to score. More...

gazebo::physics::WorldPtr	world
	A world pointer. More...

Detailed Description

A plugin for computing the score of the station keeping task. This plugin derives from the generic ScoringPlugin class. Refer to that plugin for an explanation of the four states defined (Initial, Ready, Running and Finished) as well as other required SDF elements.

This plugin publishes a goal pose to a topic when it enters the Ready state.

In the running state it calculates a 2D pose error distance between the vehicle and the goal as well as a running RMS error of all 2D pose errors calculated so far. The current 2D pose error is published to a topic for pose error, and the RMS error is published to a task score topic. RMS error is also set as the score using the SetScore() method inherited from the parent. This causes it to also appear in the task information topic.

This plugin requires the following SDF parameters:

<goal_pose>: Optional parameter (vector type) specifying the latitude, longitude and yaw of the task goal. If not provided, all values default to 0. <markers>: Optional parameter to enable visualization markers. Check the WaypointMarkers class for SDF documentation.

Definition at line 54 of file stationkeeping_scoring_plugin.hh.

Constructor & Destructor Documentation

StationkeepingScoringPlugin::StationkeepingScoringPlugin ( )

Constructor.

Definition at line 29 of file stationkeeping_scoring_plugin.cc.

Member Function Documentation

void StationkeepingScoringPlugin::Load	(	gazebo::physics::WorldPtr	_world,
		sdf::ElementPtr	_sdf
	)

Definition at line 39 of file stationkeeping_scoring_plugin.cc.

void StationkeepingScoringPlugin::OnReady ( )

overrideprivatevirtual

Callback executed when the task state transition into "ready".

Reimplemented from ScoringPlugin.

Definition at line 194 of file stationkeeping_scoring_plugin.cc.

void StationkeepingScoringPlugin::OnRunning ( )

overrideprivatevirtual

Callback executed when the task state transition into "running".

Reimplemented from ScoringPlugin.

Definition at line 202 of file stationkeeping_scoring_plugin.cc.

void StationkeepingScoringPlugin::PublishGoal ( )

private

Publish the goal pose.

Definition at line 171 of file stationkeeping_scoring_plugin.cc.

void StationkeepingScoringPlugin::Update ( )

private

Callback executed at every world update.

Definition at line 116 of file stationkeeping_scoring_plugin.cc.

Member Data Documentation

double StationkeepingScoringPlugin::goalLat

private

Goal pose in spherical (WGS84) coordinates.

Definition at line 109 of file stationkeeping_scoring_plugin.hh.

double StationkeepingScoringPlugin::goalLon

private

Goal pose in spherical (WGS84) coordinates.

Definition at line 112 of file stationkeeping_scoring_plugin.hh.

ros::Publisher StationkeepingScoringPlugin::goalPub

private

Publisher for the goal.

Definition at line 91 of file stationkeeping_scoring_plugin.hh.

std::string StationkeepingScoringPlugin::goalTopic = "/vrx/station_keeping/goal"

private

Topic where the task stats are published.

Definition at line 79 of file stationkeeping_scoring_plugin.hh.

double StationkeepingScoringPlugin::goalX

private

Goal pose in local (Gazebo) coordinates.

Definition at line 100 of file stationkeeping_scoring_plugin.hh.

double StationkeepingScoringPlugin::goalY

private

Goal pose in local (Gazebo) coordinates.

Definition at line 103 of file stationkeeping_scoring_plugin.hh.

double StationkeepingScoringPlugin::goalYaw

private

Goal pose in local (Gazebo) coordinates.

Definition at line 106 of file stationkeeping_scoring_plugin.hh.

double StationkeepingScoringPlugin::meanError

private

Cumulative 2D RMS error in meters.

Definition at line 124 of file stationkeeping_scoring_plugin.hh.

ros::Publisher StationkeepingScoringPlugin::meanErrorPub

private

Publisher for the current mean error.

Definition at line 97 of file stationkeeping_scoring_plugin.hh.

std::string StationkeepingScoringPlugin::meanErrorTopic = "/vrx/station_keeping/rms_error"

private

Topic where mean pose error is published.

Definition at line 85 of file stationkeeping_scoring_plugin.hh.

double StationkeepingScoringPlugin::poseError

private

Combined 2D pose error (distance and yaw).

Definition at line 115 of file stationkeeping_scoring_plugin.hh.

ros::Publisher StationkeepingScoringPlugin::poseErrorPub

private

Publisher for the combined 2D pose error.

Definition at line 94 of file stationkeeping_scoring_plugin.hh.

std::string StationkeepingScoringPlugin::poseErrorTopic = "/vrx/station_keeping/pose_error"

private

Topic where 2D pose error is published.

Definition at line 82 of file stationkeeping_scoring_plugin.hh.

std::unique_ptr<ros::NodeHandle> StationkeepingScoringPlugin::rosNode

private

ROS node handle.

Definition at line 88 of file stationkeeping_scoring_plugin.hh.

unsigned int StationkeepingScoringPlugin::sampleCount = 0

private

Number of instant pose error scores calculated so far .

Definition at line 118 of file stationkeeping_scoring_plugin.hh.

gazebo::common::Timer StationkeepingScoringPlugin::timer

private

Timer used to calculate the elapsed time docked in the bay.

Definition at line 127 of file stationkeeping_scoring_plugin.hh.

double StationkeepingScoringPlugin::totalPoseError = 0

private

Sum of all pose error scores calculated so far.

Definition at line 121 of file stationkeeping_scoring_plugin.hh.

gazebo::event::ConnectionPtr StationkeepingScoringPlugin::updateConnection

private

Pointer to the update event connection.

Definition at line 76 of file stationkeeping_scoring_plugin.hh.

WaypointMarkers StationkeepingScoringPlugin::waypointMarkers

private

Waypoint visualization markers.

Definition at line 130 of file stationkeeping_scoring_plugin.hh.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation