Stg::ModelPosition Class Reference

ModelPosition class More...

#include <stage.hh>

Inheritance diagram for Stg::ModelPosition:

List of all members.

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 Member Functions

Velocity GetVelocity () const
void GoTo (double x, double y, double a)
void GoTo (Pose pose)
virtual void Load ()
 ModelPosition (World *world, Model *parent, const std::string &type)
virtual void Move ()
void SetAcceleration (double x, double y, double a)
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)
virtual void Shutdown ()
virtual void Startup ()
void Stop ()
virtual void Update ()
 ~ModelPosition ()

Public Attributes

Bounds acceleration_bounds [4]
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
Bounds velocity_bounds [4]
std::vector< Waypointwaypoints
Stg::ModelPosition::WaypointVis wpvis

Detailed Description

ModelPosition class


Member Enumeration Documentation

Define a position control method

Enumerator:
CONTROL_ACCELERATION 
CONTROL_VELOCITY 
CONTROL_POSITION 

Define a driving method

Enumerator:
DRIVE_DIFFERENTIAL 
DRIVE_OMNI 
DRIVE_CAR 

Define a localization method

Enumerator:
LOCALIZATION_GPS 
LOCALIZATION_ODOM 

Constructor & Destructor Documentation

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

Member Function Documentation

Velocity Stg::ModelPosition::GetVelocity ( ) const [inline]

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

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

Sets the control mode to CONTROL_POSITION and sets the goal pose

void ModelPosition::GoTo ( Pose  pose)
void ModelPosition::Load ( void  ) [virtual]

configure a model by reading from the current world file

Reimplemented from Stg::Model.

void ModelPosition::Move ( void  ) [virtual]
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)

void ModelPosition::SetOdom ( Pose  odom)

Set the current pose estimate.

Set the current odometry estimate

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

Sets the control_mode to CONTROL_VELOCITY and sets the goal velocity.

void ModelPosition::SetSpeed ( Velocity  vel)
void ModelPosition::SetTurnSpeed ( double  a)
void ModelPosition::SetVelocity ( const Velocity val)
void ModelPosition::SetXSpeed ( double  x)
void ModelPosition::SetYSpeed ( double  y)
void ModelPosition::SetZSpeed ( double  z)
void ModelPosition::Shutdown ( void  ) [virtual]

Reimplemented from Stg::Model.

void ModelPosition::Startup ( void  ) [virtual]

Reimplemented from Stg::Model.

void ModelPosition::Stop ( )

Set velocity along all axes to to zero.

void ModelPosition::Update ( void  ) [virtual]

Reimplemented from Stg::Model.


Member Data Documentation

Set the min and max acceleration in all 4 DOF

global origin of the local coordinate system

position estimate in local coordinates

estimated error in position estimate

Set the min and max velocity in all 4 DOF


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