Stg::ModelPosition Class Reference

ModelPosition class More...

#include <stage.hh>

Inheritance diagram for Stg::ModelPosition:

[legend]

List of all members.

Classes
class	PoseVis
class	Waypoint
class	WaypointVis
Public Types
enum	ControlMode { CONTROL_VELOCITY, CONTROL_POSITION }
enum	DriveMode { DRIVE_DIFFERENTIAL, DRIVE_OMNI, DRIVE_CAR }
enum	LocalizationMode { LOCALIZATION_GPS, LOCALIZATION_ODOM }
Public Member Functions
void	GoTo (Pose pose)
void	GoTo (double x, double y, double a)
virtual void	Load ()
	ModelPosition (World *world, Model *parent, const std::string &type)
void	SetOdom (Pose odom)
void	SetSpeed (Velocity vel)
void	SetSpeed (double x, double y, double a)
void	SetTurnSpeed (double a)
void	SetXSpeed (double x)
void	SetYSpeed (double y)
void	SetZSpeed (double z)
virtual void	Shutdown ()
virtual void	Startup ()
void	Stop ()
virtual void	Update ()
	~ModelPosition ()
Public Attributes
Pose	est_origin
	global origin of the local coordinate system
Pose	est_pose
	position estimate in local coordinates
Pose	est_pose_error
	estimated error in position estimate
Stg::ModelPosition::PoseVis	posevis
std::vector< Waypoint >	waypoints
Stg::ModelPosition::WaypointVis	wpvis
Private Attributes
ControlMode	control_mode
DriveMode	drive_mode
Pose	goal
	the current velocity or pose to reach, depending on the value of control_mode
Velocity	integration_error
	errors to apply in simple odometry model
LocalizationMode	localization_mode
	global or local mode
double	wheelbase
Friends
class	Canvas

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Detailed Description

ModelPosition class

Definition at line 2800 of file stage.hh.

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Member Enumeration Documentation

enum Stg::ModelPosition::ControlMode

Define a position control method

Enumerator:

CONTROL_VELOCITY
CONTROL_POSITION

Definition at line 2806 of file stage.hh.

enum Stg::ModelPosition::DriveMode

Define a driving method

Enumerator:

DRIVE_DIFFERENTIAL
DRIVE_OMNI
DRIVE_CAR

Definition at line 2818 of file stage.hh.

enum Stg::ModelPosition::LocalizationMode

Define a localization method

Enumerator:

LOCALIZATION_GPS
LOCALIZATION_ODOM

Definition at line 2812 of file stage.hh.

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Constructor & Destructor Documentation

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

Stg::ModelPosition::~ModelPosition

(

)

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Member Function Documentation

void Stg::ModelPosition::GoTo

(

Pose

pose

)

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

Sets the control mode to CONTROL_POSITION and sets the goal pose

virtual void Stg::ModelPosition::Load

(

)

[virtual]

configure a model by reading from the current world file

Reimplemented from Stg::Model.

void Stg::ModelPosition::SetOdom

(

Pose

odom

)

Set the current pose estimate.

void Stg::ModelPosition::SetSpeed

(

Velocity

vel

)

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

Sets the control_mode to CONTROL_VELOCITY and sets the goal velocity.

void Stg::ModelPosition::SetTurnSpeed

(

double

a

)

void Stg::ModelPosition::SetXSpeed

(

double

x

)

void Stg::ModelPosition::SetYSpeed

(

double

y

)

void Stg::ModelPosition::SetZSpeed

(

double

z

)

virtual void Stg::ModelPosition::Shutdown

(

)

[virtual]

Reimplemented from Stg::Model.

virtual void Stg::ModelPosition::Startup

(

)

[virtual]

Reimplemented from Stg::Model.

void Stg::ModelPosition::Stop

(

)

Set velocity along all axes to to zero.

virtual void Stg::ModelPosition::Update

(

)

[virtual]

Reimplemented from Stg::Model.

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Friends And Related Function Documentation

friend class Canvas [friend]

Reimplemented from Stg::Model.

Definition at line 2802 of file stage.hh.

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Member Data Documentation

ControlMode Stg::ModelPosition::control_mode [private]

Definition at line 2826 of file stage.hh.

DriveMode Stg::ModelPosition::drive_mode [private]

Definition at line 2827 of file stage.hh.

Pose Stg::ModelPosition::est_origin

global origin of the local coordinate system

Definition at line 2899 of file stage.hh.

Pose Stg::ModelPosition::est_pose

position estimate in local coordinates

Definition at line 2897 of file stage.hh.

Pose Stg::ModelPosition::est_pose_error

estimated error in position estimate

Definition at line 2898 of file stage.hh.

Pose Stg::ModelPosition::goal [private]

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

Definition at line 2825 of file stage.hh.

Velocity Stg::ModelPosition::integration_error [private]

errors to apply in simple odometry model

Definition at line 2829 of file stage.hh.

LocalizationMode Stg::ModelPosition::localization_mode [private]

global or local mode

Definition at line 2828 of file stage.hh.

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

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

Definition at line 2859 of file stage.hh.

double Stg::ModelPosition::wheelbase [private]

Definition at line 2830 of file stage.hh.

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

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

• stage.hh