MILDRobotModel implements a model of pan tilt unit robot. More...

#include <MILDRobotModel.hpp>

Inheritance diagram for robot_model_services::MILDRobotModel:

Public Member Functions
geometry_msgs::Pose	calculateCameraPose (const RobotStatePtr &sourceRobotState)
	Uses a given RobotState to calculate the camera frame.
float	getBase_RotationalMovementCosts (const RobotStatePtr &sourceRobotState, const RobotStatePtr &targetRobotState)
float	getBase_TranslationalMovementCosts (const RobotStatePtr &sourceRobotState, const RobotStatePtr &targetRobotState)
	Calculates the movement costs from sourceRobotState to targetRobotState. Returns -1 if pose is not reachable.
geometry_msgs::Pose	getCameraPose ()
float	getDistance (const geometry_msgs::Point &sourcePosition, const geometry_msgs::Point &targetPosition)
nav_msgs::Path	getNavigationPath (const geometry_msgs::Point &sourcePosition, const geometry_msgs::Point &targetPosition, double sourceRotationBase, double targetRotationBase)
nav_msgs::Path	getNavigationPath (const geometry_msgs::Point &sourcePosition, const geometry_msgs::Point &targetPosition)
float	getPTU_PanMovementCosts (const RobotStatePtr &sourceRobotState, const RobotStatePtr &targetRobotState)
float	getPTU_TiltMovementCosts (const RobotStatePtr &sourceRobotState, const RobotStatePtr &targetRobotState)
geometry_msgs::Pose	getRobotPose ()
bool	isPoseReachable (const SimpleVector3 &position, const SimpleQuaternion &orientation)
bool	isPositionAllowed (const geometry_msgs::Point &position)
bool	isPositionReachable (const geometry_msgs::Point &sourcePosition, const geometry_msgs::Point &targetPosition)
	MILDRobotModel ()
	constructor of the MILDRobotModel
void	setPanAngleLimits (float minAngleDegrees, float maxAngleDegrees)
	sets the angle limits of the pan angle.
void	setRotationAngleLimits (float minAngleDegrees, float maxAngleDegrees)
	sets the angle limits of the rotation angle.
void	setTiltAngleLimits (float minAngleDegrees, float maxAngleDegrees)
	sets the angle limits of the tilt angle.
virtual	~MILDRobotModel ()
	destructor of the MILDRobotModel
Protected Attributes
tf::TransformListener	listener
DebugHelperPtr	mDebugHelperPtr
std::string	mFrameName_map
std::string	mFrameName_mild_base
std::string	mFrameName_mild_camera_left
std::string	mFrameName_mild_camera_mount_link
std::string	mFrameName_mild_camera_right
std::string	mFrameName_mild_ptu_base_link
std::string	mFrameName_mild_ptu_pan_link
std::string	mFrameName_mild_ptu_pan_link_rotated
std::string	mFrameName_mild_ptu_tilt_link
std::string	mFrameName_mild_ptu_tilt_link_rotated
MapHelperPtr	mMapHelperPtr
float	mOmegaPan
float	mOmegaRot
float	mOmegaTilt
boost::tuple< float, float >	mPanLimits
boost::tuple< float, float >	mRotationLimits
float	mSigma
boost::tuple< float, float >	mTiltLimits
ros::NodeHandle	n
ros::ServiceClient	navigationCostClient
float	speedFactorBaseMove
float	speedFactorBaseRot
float	speedFactorPTU
float	tolerance
bool	useGlobalPlanner
Private Member Functions
void	initMapHelper ()
	Init MapHelper if it is not initialized yet.

Detailed Description

MILDRobotModel implements a model of pan tilt unit robot.

Author:: Ralf Schleicher

Date:: 2014

Version:: 1.0

Copyright:: GNU Public License

Definition at line 39 of file MILDRobotModel.hpp.

Constructor & Destructor Documentation

robot_model_services::MILDRobotModel::MILDRobotModel ( )

constructor of the MILDRobotModel

Definition at line 44 of file MILDRobotModel.cpp.

robot_model_services::MILDRobotModel::~MILDRobotModel ( ) [virtual]

destructor of the MILDRobotModel

Definition at line 127 of file MILDRobotModel.cpp.

Member Function Documentation

geometry_msgs::Pose robot_model_services::MILDRobotModel::calculateCameraPose ( const RobotStatePtr & sourceRobotState ) [virtual]

Uses a given RobotState to calculate the camera frame.

Implements robot_model_services::RobotModel.

Definition at line 400 of file MILDRobotModel.cpp.

float robot_model_services::MILDRobotModel::getBase_RotationalMovementCosts	(	const RobotStatePtr &	sourceRobotState,
		const RobotStatePtr &	targetRobotState
	)		`[virtual]`

Implements robot_model_services::RobotModel.

Definition at line 277 of file MILDRobotModel.cpp.

float robot_model_services::MILDRobotModel::getBase_TranslationalMovementCosts	(	const RobotStatePtr &	sourceRobotState,
		const RobotStatePtr &	targetRobotState
	)		`[virtual]`

Calculates the movement costs from sourceRobotState to targetRobotState. Returns -1 if pose is not reachable.

Implements robot_model_services::RobotModel.

Definition at line 224 of file MILDRobotModel.cpp.

geometry_msgs::Pose robot_model_services::MILDRobotModel::getCameraPose ( ) [virtual]

Implements robot_model_services::RobotModel.

Definition at line 141 of file MILDRobotModel.cpp.

float robot_model_services::MILDRobotModel::getDistance	(	const geometry_msgs::Point &	sourcePosition,
		const geometry_msgs::Point &	targetPosition
	)		`[virtual]`

Implements robot_model_services::RobotModel.

Definition at line 305 of file MILDRobotModel.cpp.

nav_msgs::Path robot_model_services::MILDRobotModel::getNavigationPath	(	const geometry_msgs::Point &	sourcePosition,
		const geometry_msgs::Point &	targetPosition,
		double	sourceRotationBase,
		double	targetRotationBase
	)		`[virtual]`

Client used for communication with the global_planner to calculate movement costs

Implements robot_model_services::RobotModel.

Definition at line 358 of file MILDRobotModel.cpp.

nav_msgs::Path robot_model_services::MILDRobotModel::getNavigationPath	(	const geometry_msgs::Point &	sourcePosition,
		const geometry_msgs::Point &	targetPosition
	)		`[virtual]`

Implements robot_model_services::RobotModel.

Definition at line 353 of file MILDRobotModel.cpp.

float robot_model_services::MILDRobotModel::getPTU_PanMovementCosts	(	const RobotStatePtr &	sourceRobotState,
		const RobotStatePtr &	targetRobotState
	)		`[virtual]`

Implements robot_model_services::RobotModel.

Definition at line 244 of file MILDRobotModel.cpp.

float robot_model_services::MILDRobotModel::getPTU_TiltMovementCosts	(	const RobotStatePtr &	sourceRobotState,
		const RobotStatePtr &	targetRobotState
	)		`[virtual]`

Implements robot_model_services::RobotModel.

Definition at line 261 of file MILDRobotModel.cpp.

geometry_msgs::Pose robot_model_services::MILDRobotModel::getRobotPose ( ) [virtual]

Implements robot_model_services::RobotModel.

Definition at line 129 of file MILDRobotModel.cpp.

void robot_model_services::MILDRobotModel::initMapHelper ( ) [private]

Init MapHelper if it is not initialized yet.

Definition at line 181 of file MILDRobotModel.cpp.

bool robot_model_services::MILDRobotModel::isPoseReachable	(	const SimpleVector3 &	position,
		const SimpleQuaternion &	orientation
	)		`[virtual]`

Parameters:

orientation the orientation to reach

Returns:: if the orienation is reachable or not

Implements robot_model_services::RobotModel.

Definition at line 195 of file MILDRobotModel.cpp.

bool robot_model_services::MILDRobotModel::isPositionAllowed ( const geometry_msgs::Point & position )

Definition at line 171 of file MILDRobotModel.cpp.

bool robot_model_services::MILDRobotModel::isPositionReachable	(	const geometry_msgs::Point &	sourcePosition,
		const geometry_msgs::Point &	targetPosition
	)		`[virtual]`