robot_model_services::MILDRobotModel Class Reference

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. More...
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. More...
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 More...
void	setPanAngleLimits (float minAngleDegrees, float maxAngleDegrees)
	sets the angle limits of the pan angle. More...
void	setRotationAngleLimits (float minAngleDegrees, float maxAngleDegrees)
	sets the angle limits of the rotation angle. More...
void	setTiltAngleLimits (float minAngleDegrees, float maxAngleDegrees)
	sets the angle limits of the tilt angle. More...
virtual	~MILDRobotModel ()
	destructor of the MILDRobotModel More...
Public Member Functions inherited from robot_model_services::RobotModel
RobotStatePtr	calculateRobotState (const robot_model_services::SimpleVector3 &position, const robot_model_services::SimpleQuaternion &orientation)
	calculates the target robot state by assuming the saved current state of the roboter as source state More...
virtual RobotStatePtr	calculateRobotState (const RobotStatePtr &sourceRobotState, const SimpleVector3 &position, const SimpleQuaternion &orientation)=0
	calculates the target robot state More...
float	getBase_RotationalMovementCosts (const RobotStatePtr &targetRobotState)
float	getBase_TranslationalMovementCosts (const RobotStatePtr &targetRobotState)
RobotStatePtr	getCurrentRobotState ()
float	getPTU_PanMovementCosts (const RobotStatePtr &targetRobotState)
float	getPTU_TiltMovementCosts (const RobotStatePtr &targetRobotState)
	RobotModel ()
	the constructor of the RobotModel object More...
void	setCurrentRobotState (const RobotStatePtr &currentRobotState)
virtual	~RobotModel ()
	the destructor of the RobotModel object More...

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. More...

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

Implements robot_model_services::RobotModel.

Definition at line 203 of file MILDRobotModel.cpp.

void robot_model_services::MILDRobotModel::setPanAngleLimits	(	float	minAngleDegrees,
		float	maxAngleDegrees
	)

sets the angle limits of the pan angle.

Parameters

minAngleDegrees	the minimum angle in degrees
maxAngleDegrees	the maximum angle in degrees

Definition at line 153 of file MILDRobotModel.cpp.

void robot_model_services::MILDRobotModel::setRotationAngleLimits	(	float	minAngleDegrees,
		float	maxAngleDegrees
	)

sets the angle limits of the rotation angle.

Parameters

minAngleDegrees	the minimum angle in degrees
maxAngleDegrees	the maximum angle in degrees

Definition at line 165 of file MILDRobotModel.cpp.

void robot_model_services::MILDRobotModel::setTiltAngleLimits	(	float	minAngleDegrees,
		float	maxAngleDegrees
	)

sets the angle limits of the tilt angle.

Parameters

minAngleDegrees	the minimum angle in degrees
maxAngleDegrees	the maximum angle in degrees

Definition at line 159 of file MILDRobotModel.cpp.

Member Data Documentation

tf::TransformListener robot_model_services::MILDRobotModel::listener

protected

Definition at line 55 of file MILDRobotModel.hpp.

DebugHelperPtr robot_model_services::MILDRobotModel::mDebugHelperPtr

protected

Definition at line 43 of file MILDRobotModel.hpp.

std::string robot_model_services::MILDRobotModel::mFrameName_map

protected

contains the definitions of the robot's frame names

Definition at line 63 of file MILDRobotModel.hpp.

std::string robot_model_services::MILDRobotModel::mFrameName_mild_base

protected

Definition at line 64 of file MILDRobotModel.hpp.

std::string robot_model_services::MILDRobotModel::mFrameName_mild_camera_left

protected

Definition at line 71 of file MILDRobotModel.hpp.

std::string robot_model_services::MILDRobotModel::mFrameName_mild_camera_mount_link

protected

Definition at line 70 of file MILDRobotModel.hpp.

std::string robot_model_services::MILDRobotModel::mFrameName_mild_camera_right

protected

Definition at line 72 of file MILDRobotModel.hpp.

std::string robot_model_services::MILDRobotModel::mFrameName_mild_ptu_base_link

protected

Definition at line 65 of file MILDRobotModel.hpp.

std::string robot_model_services::MILDRobotModel::mFrameName_mild_ptu_pan_link

protected

Definition at line 66 of file MILDRobotModel.hpp.

std::string robot_model_services::MILDRobotModel::mFrameName_mild_ptu_pan_link_rotated

protected

Definition at line 67 of file MILDRobotModel.hpp.

std::string robot_model_services::MILDRobotModel::mFrameName_mild_ptu_tilt_link

protected

Definition at line 68 of file MILDRobotModel.hpp.

std::string robot_model_services::MILDRobotModel::mFrameName_mild_ptu_tilt_link_rotated

protected

Definition at line 69 of file MILDRobotModel.hpp.

MapHelperPtr robot_model_services::MILDRobotModel::mMapHelperPtr

protected

Definition at line 56 of file MILDRobotModel.hpp.

float robot_model_services::MILDRobotModel::mOmegaPan

protected

Definition at line 46 of file MILDRobotModel.hpp.

float robot_model_services::MILDRobotModel::mOmegaRot

protected

Definition at line 48 of file MILDRobotModel.hpp.

float robot_model_services::MILDRobotModel::mOmegaTilt

protected

Definition at line 47 of file MILDRobotModel.hpp.

boost::tuple<float, float> robot_model_services::MILDRobotModel::mPanLimits

protected

contains the lower and upper limit of pan

Definition at line 77 of file MILDRobotModel.hpp.

boost::tuple<float, float> robot_model_services::MILDRobotModel::mRotationLimits

protected

contains the lower and upper limit of rotation

Definition at line 87 of file MILDRobotModel.hpp.

float robot_model_services::MILDRobotModel::mSigma

protected

Definition at line 53 of file MILDRobotModel.hpp.

boost::tuple<float, float> robot_model_services::MILDRobotModel::mTiltLimits

protected

contains the lower and upper limit of tilt

Definition at line 82 of file MILDRobotModel.hpp.

ros::NodeHandle robot_model_services::MILDRobotModel::n

protected

Definition at line 58 of file MILDRobotModel.hpp.

ros::ServiceClient robot_model_services::MILDRobotModel::navigationCostClient

protected

Client used for communication with the global_planner to calculate movement costs

Definition at line 92 of file MILDRobotModel.hpp.

float robot_model_services::MILDRobotModel::speedFactorBaseMove

protected

Definition at line 50 of file MILDRobotModel.hpp.

float robot_model_services::MILDRobotModel::speedFactorBaseRot

protected

Definition at line 51 of file MILDRobotModel.hpp.

float robot_model_services::MILDRobotModel::speedFactorPTU

protected

Definition at line 49 of file MILDRobotModel.hpp.

float robot_model_services::MILDRobotModel::tolerance

protected

Definition at line 52 of file MILDRobotModel.hpp.

bool robot_model_services::MILDRobotModel::useGlobalPlanner

protected

Definition at line 54 of file MILDRobotModel.hpp.

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

• MILDRobotModel.hpp
• MILDRobotModel.cpp