Stg::ModelPosition Class Reference

ModelPosition class More...

#include <stage.hh>

Inherits Stg::Model.

List of all members.

Classes
class	PoseVis
class	WaypointVis
Public Types
enum	ControlMode { STG_POSITION_CONTROL_VELOCITY, STG_POSITION_CONTROL_POSITION }
enum	DriveMode { STG_POSITION_DRIVE_DIFFERENTIAL, STG_POSITION_DRIVE_OMNI, STG_POSITION_DRIVE_CAR }
enum	LocalizationMode { STG_POSITION_LOCALIZATION_GPS, STG_POSITION_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)
void	SetOdom (Pose odom)
void	SetSpeed (Velocity vel)
void	SetSpeed (double x, double y, double a)
void	SetTurnSpeed (double a)
Waypoint *	SetWaypoints (Waypoint *wps, uint32_t count)
void	SetXSpeed (double x)
void	SetYSpeed (double y)
void	SetZSpeed (double z)
virtual void	Shutdown ()
virtual void	Startup ()
void	Stop ()
virtual void	Update ()
	~ModelPosition ()
Static Public Member Functions
static Model *	Create (World *world, Model *parent)
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
PoseVis	posevis
WaypointVis	wpvis

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Detailed Description

ModelPosition class

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Member Enumeration Documentation

enum Stg::ModelPosition::ControlMode

Define a position control method

Enumerator:

STG_POSITION_CONTROL_VELOCITY
STG_POSITION_CONTROL_POSITION

enum Stg::ModelPosition::DriveMode

Define a driving method

Enumerator:

STG_POSITION_DRIVE_DIFFERENTIAL
STG_POSITION_DRIVE_OMNI
STG_POSITION_DRIVE_CAR

enum Stg::ModelPosition::LocalizationMode

Define a localization method

Enumerator:

STG_POSITION_LOCALIZATION_GPS
STG_POSITION_LOCALIZATION_ODOM

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Constructor & Destructor Documentation

ModelPosition::ModelPosition	(	World *	world,
		Model *	parent
	)

ModelPosition::~ModelPosition

(

void

)

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Member Function Documentation

static Model* Stg::ModelPosition::Create	(	World *	world,
		Model *	parent
	)			[inline, static]

Every class derived from Stg::Model must provide a "named constructor" for its class, like this.

Reimplemented from Stg::Model.

void ModelPosition::GoTo

(

Pose

pose

)

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

Sets the control mode to CONTROL_POSITION and sets the goal 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

)

Waypoint * ModelPosition::SetWaypoints	(	Waypoint *	wps,
		uint32_t	count
	)

Set the waypoint array pointer. Returns the old pointer, in case you need to free/delete[] it

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.

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Member Data Documentation

Pose Stg::ModelPosition::est_origin

global origin of the local coordinate system

Pose Stg::ModelPosition::est_pose

position estimate in local coordinates

Pose Stg::ModelPosition::est_pose_error

estimated error in position estimate

PoseVis Stg::ModelPosition::posevis

WaypointVis Stg::ModelPosition::wpvis

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

• stage.hh
• model_position.cc