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	GetGlobalVelocity () const

Velocity	GetOdomError () const

Velocity	GetVelocity () const

void	GoTo (double x, double y, double a)

void	GoTo (Pose pose)

	ModelPosition (World world, Model parent, const std::string &type)
	Constructor. More...

void	SetAcceleration (double x, double y, double a)

void	SetGlobalVelocity (const Velocity &gvel)

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)

void	Stop ()

	~ModelPosition ()
	Destructor. More...

Public Member Functions inherited from Stg::Model
void	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

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	HasCollision ()

bool	HasSubscribers () const

void	InitControllers ()

bool	IsAntecedent (const Model *testmod) const

bool	IsDescendent (const Model *testmod) const

bool	IsEnabled () 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

bool	PlaceInFreeSpace (meters_t xmin, meters_t xmax, meters_t ymin, meters_t ymax, size_t max_iter=0)

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)

bool	RandomPoseInFreeSpace (meters_t xmin, meters_t xmax, meters_t ymin, meters_t ymax, size_t max_iter=0)

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	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

Pose	est_pose

Pose	est_pose_error

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

Protected Member Functions
virtual void	Load ()

virtual void	Move ()

virtual void	Shutdown ()

virtual void	Startup ()

virtual void	Update ()

Protected Member Functions inherited from Stg::Model
void	AppendTouchingModels (std::set< Model *> &touchers)

void	CallUpdateCallbacks (void)

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)
	Find the root model, and map/unmap the whole tree. More...

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)

void	Raytrace (const Pose &pose, const meters_t range, const radians_t fov, const ray_test_func_t func, const void *arg, const bool ztest, std::vector< RaytraceResult > &results)

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)

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

class	World

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

Static Protected Member Functions inherited from Stg::Model
static int	UpdateWrapper (Model mod, void )

Protected Attributes inherited from Stg::Model
bool	alwayson

BlockGroup	blockgroup

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

uint64_t	trail_interval

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
	Pointer to the world in which this model exists. More...

WorldGui *	world_gui
	Pointer to the GUI world - NULL if running in non-gui mode. More...

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

Detailed Description

ModelPosition class

Definition at line 2777 of file stage.hh.

Member Enumeration Documentation

◆ ControlMode

enum Stg::ModelPosition::ControlMode

Define a position control method

Enumerator
CONTROL_ACCELERATION
CONTROL_VELOCITY
CONTROL_POSITION

Definition at line 2783 of file stage.hh.

◆ DriveMode

enum Stg::ModelPosition::DriveMode

Define a driving method

Enumerator
DRIVE_DIFFERENTIAL
DRIVE_OMNI
DRIVE_CAR

Definition at line 2789 of file stage.hh.

◆ LocalizationMode

enum Stg::ModelPosition::LocalizationMode

Define a localization method

Enumerator
LOCALIZATION_GPS
LOCALIZATION_ODOM

Definition at line 2786 of file stage.hh.

Constructor & Destructor Documentation

◆ ModelPosition()

ModelPosition::ModelPosition	(	World *	world,
		Model *	parent,
		const std::string &	type
	)

Constructor.

Definition at line 113 of file model_position.cc.

◆ ~ModelPosition()

ModelPosition::~ModelPosition ( void )

Destructor.

Definition at line 152 of file model_position.cc.

Member Function Documentation

◆ GetGlobalVelocity()

Velocity ModelPosition::GetGlobalVelocity ( ) const

get the velocity of a model in the global CS

Definition at line 164 of file model_position.cc.

◆ GetOdomError()

Velocity Stg::ModelPosition::GetOdomError ( ) const

inline

Get (a copy of) the model's odometry integration error.

Definition at line 2822 of file stage.hh.

◆ GetVelocity()

Velocity Stg::ModelPosition::GetVelocity ( ) const

inline

Get (a copy of) the model's velocity in its local reference frame.

Definition at line 2814 of file stage.hh.

◆ GoTo() [1/2]

void ModelPosition::GoTo	(	double	x,
		double	y,
		double	a
	)

Sets the control mode to CONTROL_POSITION and sets the goal pose

Definition at line 637 of file model_position.cc.

◆ GoTo() [2/2]

void ModelPosition::GoTo ( Pose pose )

Definition at line 646 of file model_position.cc.

◆ Load()

void ModelPosition::Load ( void )

protectedvirtual

configure a model by reading from the current world file

Reimplemented from Stg::Model.

Definition at line 195 of file model_position.cc.

◆ Move()

void ModelPosition::Move ( void )

protectedvirtual

Definition at line 526 of file model_position.cc.

◆ SetAcceleration()

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 652 of file model_position.cc.

◆ SetGlobalVelocity()

void ModelPosition::SetGlobalVelocity ( const Velocity & gvel )

set the velocity of a model in the global coordinate system

Definition at line 180 of file model_position.cc.

◆ SetOdom()

void ModelPosition::SetOdom ( Pose odom )

Set the current pose estimate.

Set the current odometry estimate

Definition at line 664 of file model_position.cc.

◆ SetSpeed() [1/2]

void ModelPosition::SetSpeed	(	double	x,
		double	y,
		double	a
	)

Sets the control_mode to CONTROL_VELOCITY and sets the goal velocity.

Definition at line 595 of file model_position.cc.

◆ SetSpeed() [2/2]

void ModelPosition::SetSpeed ( Velocity vel )

Definition at line 628 of file model_position.cc.

◆ SetTurnSpeed()

void ModelPosition::SetTurnSpeed ( double a )

Definition at line 622 of file model_position.cc.

◆ SetVelocity()

void ModelPosition::SetVelocity ( const Velocity & val )

Definition at line 157 of file model_position.cc.

◆ SetXSpeed()

void ModelPosition::SetXSpeed ( double x )

Definition at line 604 of file model_position.cc.

◆ SetYSpeed()

void ModelPosition::SetYSpeed ( double y )

Definition at line 610 of file model_position.cc.

◆ SetZSpeed()

void ModelPosition::SetZSpeed ( double z )

Definition at line 616 of file model_position.cc.

◆ Shutdown()

void ModelPosition::Shutdown ( void )

protectedvirtual

Reimplemented from Stg::Model.

Definition at line 577 of file model_position.cc.

◆ Startup()

void ModelPosition::Startup ( void )

protectedvirtual

Reimplemented from Stg::Model.

Definition at line 568 of file model_position.cc.

◆ Stop()

void ModelPosition::Stop ( )

Set velocity along all axes to to zero.

Definition at line 590 of file model_position.cc.

◆ Update()

void ModelPosition::Update ( void )

protectedvirtual

Reimplemented from Stg::Model.

Definition at line 283 of file model_position.cc.

Friends And Related Function Documentation

◆ Canvas

friend class Canvas

friend

Definition at line 2778 of file stage.hh.

◆ World

friend class World

friend

Definition at line 2779 of file stage.hh.

Member Data Documentation

◆ acceleration_bounds

Bounds Stg::ModelPosition::acceleration_bounds[4]

Set the min and max acceleration in all 4 DOF

Definition at line 2802 of file stage.hh.

◆ control_mode

ControlMode Stg::ModelPosition::control_mode

private

Definition at line 2794 of file stage.hh.

◆ drive_mode

DriveMode Stg::ModelPosition::drive_mode

private

Definition at line 2795 of file stage.hh.

◆ est_origin

Pose Stg::ModelPosition::est_origin

Definition at line 2879 of file stage.hh.

◆ est_pose

Pose Stg::ModelPosition::est_pose

Definition at line 2877 of file stage.hh.

◆ est_pose_error

Pose Stg::ModelPosition::est_pose_error

Definition at line 2878 of file stage.hh.

◆ goal

Pose Stg::ModelPosition::goal

private

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

Definition at line 2793 of file stage.hh.

◆ integration_error

Velocity Stg::ModelPosition::integration_error

private

errors to apply in simple odometry model

Definition at line 2797 of file stage.hh.

◆ localization_mode

LocalizationMode Stg::ModelPosition::localization_mode

private

global or local mode

Definition at line 2796 of file stage.hh.

◆ posevis

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

◆ velocity

Velocity Stg::ModelPosition::velocity

private

Definition at line 2792 of file stage.hh.

◆ velocity_bounds

Bounds Stg::ModelPosition::velocity_bounds[4]

Set the min and max velocity in all 4 DOF

Definition at line 2805 of file stage.hh.

◆ waypoints

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

Definition at line 2836 of file stage.hh.

◆ wheelbase

double Stg::ModelPosition::wheelbase

private

Definition at line 2798 of file stage.hh.

◆ wpvis

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

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

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ControlMode

◆ DriveMode

◆ LocalizationMode

Constructor & Destructor Documentation

◆ ModelPosition()

◆ ~ModelPosition()

Member Function Documentation

◆ GetGlobalVelocity()

◆ GetOdomError()

◆ GetVelocity()

◆ GoTo() [1/2]

◆ GoTo() [2/2]

◆ Load()

◆ Move()

◆ SetAcceleration()

◆ SetGlobalVelocity()

◆ SetOdom()

◆ SetSpeed() [1/2]

◆ SetSpeed() [2/2]

◆ SetTurnSpeed()

◆ SetVelocity()

◆ SetXSpeed()

◆ SetYSpeed()

◆ SetZSpeed()

◆ Shutdown()

◆ Startup()

◆ Stop()

◆ Update()

Friends And Related Function Documentation

◆ Canvas

◆ World

Member Data Documentation

◆ acceleration_bounds

◆ control_mode

◆ drive_mode

◆ est_origin

◆ est_pose

◆ est_pose_error

◆ goal

◆ integration_error

◆ localization_mode

◆ posevis

◆ velocity

◆ velocity_bounds

◆ waypoints

◆ wheelbase

◆ wpvis