Position
[libstage - Stage library API]

Detailed Description

Implements the position model: a mobile robot base


Modules
Position Properties
Data Structures
struct	stg_position_cmd_t
struct	stg_position_data_t
Defines
#define	STG_POSITION_CONTROL_DEFAULT STG_POSITION_CONTROL_VELOCITY
#define	STG_POSITION_LOCALIZATION_DEFAULT STG_POSITION_LOCALIZATION_GPS
#define	STG_POSITION_DRIVE_DEFAULT STG_POSITION_DRIVE_DIFFERENTIAL
Typedefs
typedef int	stg_position_stall_t
Enumerations
enum	stg_position_control_mode_t { STG_POSITION_CONTROL_VELOCITY, STG_POSITION_CONTROL_POSITION }
enum	stg_position_localization_mode_t { STG_POSITION_LOCALIZATION_GPS, STG_POSITION_LOCALIZATION_ODOM }
enum	stg_position_drive_mode_t { STG_POSITION_DRIVE_DIFFERENTIAL, STG_POSITION_DRIVE_OMNI }
Functions
stg_model_t *	stg_position_create (stg_world_t world, stg_model_t parent, stg_id_t id, char *token)
void	stg_model_position_set_odom (stg_model_t mod, stg_pose_t odom)

#define STG_POSITION_CONTROL_DEFAULT STG_POSITION_CONTROL_VELOCITY

#define STG_POSITION_LOCALIZATION_DEFAULT STG_POSITION_LOCALIZATION_GPS

#define STG_POSITION_DRIVE_DEFAULT STG_POSITION_DRIVE_DIFFERENTIAL

"position_stall" property

Enumeration values:

STG_POSITION_CONTROL_VELOCITY
STG_POSITION_CONTROL_POSITION

Enumeration values:

STG_POSITION_LOCALIZATION_GPS
STG_POSITION_LOCALIZATION_ODOM

"position_drive" property

Enumeration values:

STG_POSITION_DRIVE_DIFFERENTIAL
STG_POSITION_DRIVE_OMNI

stg_model_t* stg_position_create	(	stg_world_t *	world,
		stg_model_t *	parent,
		stg_id_t	id,
		char *	token
	)

create a new position model

void stg_model_position_set_odom	(	stg_model_t *	mod,
		stg_pose_t *	odom
	)

set the current odometry estimate

Generated on Thu Aug 11 13:08:10 2005 for Stage by

1.4.0