ModelPosition class
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#include <stage.hh>
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 (double x, double y, double a) |
void | GoTo (Pose pose) |
virtual void | Load () |
| ModelPosition (World *world, Model *parent, const std::string &type) |
void | SetOdom (Pose odom) |
void | SetSpeed (double x, double y, double a) |
void | SetSpeed (Velocity vel) |
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 |
Detailed Description
Member Enumeration Documentation
Define a position control method
- Enumerator:
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
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::SetOdom |
( |
Pose |
odom | ) |
|
Set the current pose estimate.
Set the current odometry estimate
void ModelPosition::SetSpeed |
( |
Velocity |
vel | ) |
|
void ModelPosition::SetSpeed |
( |
double |
x, |
|
|
double |
y, |
|
|
double |
a |
|
) |
| |
Sets the control_mode to CONTROL_VELOCITY and sets the goal velocity.
void ModelPosition::SetTurnSpeed |
( |
double |
a | ) |
|
void ModelPosition::SetXSpeed |
( |
double |
x | ) |
|
void ModelPosition::SetYSpeed |
( |
double |
y | ) |
|
void ModelPosition::SetZSpeed |
( |
double |
z | ) |
|
void ModelPosition::Shutdown |
( |
void |
| ) |
[virtual] |
void ModelPosition::Startup |
( |
void |
| ) |
[virtual] |
void ModelPosition::Stop |
( |
| ) |
|
Set velocity along all axes to to zero.
void ModelPosition::Update |
( |
void |
| ) |
[virtual] |
Member Data Documentation
global origin of the local coordinate system
position estimate in local coordinates
estimated error in position estimate
The documentation for this class was generated from the following files: