Stg::StgModelPosition Class Reference

#include <stage.hh>

Inherits Stg::StgModel.

List of all members.

Public Member Functions
void	GoTo (stg_pose_t pose)
void	GoTo (double x, double y, double a)
virtual void	Load ()
void	SetOdom (stg_pose_t odom)
void	SetSpeed (stg_velocity_t 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 ()
	StgModelPosition (StgWorld *world, StgModel *parent, stg_id_t id, char *typestr)
virtual void	Update ()
	~StgModelPosition ()
Static Public Member Functions
static StgModel *	Create (StgWorld *world, StgModel *parent, stg_id_t id, char *typestr)
Public Attributes
stg_pose_t	est_origin
	global origin of the local coordinate system
stg_pose_t	est_pose
	position estimate in local coordinates
stg_pose_t	est_pose_error
	estimated error in position estimate

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Constructor & Destructor Documentation

StgModelPosition::StgModelPosition	(	StgWorld *	world,
		StgModel *	parent,
		stg_id_t	id,
		char *	typestr
	)

References Stg::stg_pose_t::a, POSITION_CONTROL_DEFAULT, POSITION_DRIVE_DEFAULT, POSITION_LOCALIZATION_DEFAULT, PRINT_DEBUG2, Stg::StgModel::SetBlobReturn(), Stg::StgModel::SetVelocity(), Stg::StgModel::SetWatts(), STG_POSITION_INTEGRATION_BIAS_A, STG_POSITION_INTEGRATION_BIAS_X, STG_POSITION_INTEGRATION_BIAS_Y, STG_POSITION_INTEGRATION_ERROR_A, STG_POSITION_INTEGRATION_ERROR_X, STG_POSITION_INTEGRATION_ERROR_Y, Stg::stg_pose_t::x, and Stg::stg_pose_t::y.

Referenced by Create().

StgModelPosition::~StgModelPosition

(

void

)

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Member Function Documentation

static StgModel* Stg::StgModelPosition::Create	(	StgWorld *	world,
		StgModel *	parent,
		stg_id_t	id,
		char *	typestr
	)			[inline, static]

Reimplemented from Stg::StgModel.

References StgModelPosition().

void StgModelPosition::GoTo

(

stg_pose_t

pose

)

References Stg::STG_POSITION_CONTROL_POSITION.

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

Sets the control mode to STG_POSITION_CONTROL_POSITION and sets the goal pose

References Stg::stg_pose_t::a, Stg::STG_POSITION_CONTROL_POSITION, Stg::stg_pose_t::x, Stg::stg_pose_t::y, and Stg::stg_pose_t::z.

Referenced by InterfacePosition::ProcessMessage().

void StgModelPosition::Load

(

void

)

[virtual]

Reimplemented from Stg::StgModel.

References Stg::stg_pose_t::a, est_origin, est_pose, est_pose_error, Stg::StgModel::GetGlobalPose(), Stg::StgWorld::GetWorldFile(), Stg::StgModel::Load(), Stg::normalize(), PRINT_ERR1, PRINT_ERR2, PRINT_WARN1, Stg::Worldfile::PropertyExists(), Stg::Worldfile::ReadString(), Stg::Worldfile::ReadTupleAngle(), Stg::Worldfile::ReadTupleLength(), Stg::STG_POSITION_DRIVE_CAR, Stg::STG_POSITION_DRIVE_DIFFERENTIAL, Stg::STG_POSITION_DRIVE_OMNI, Stg::STG_POSITION_LOCALIZATION_GPS, Stg::STG_POSITION_LOCALIZATION_ODOM, Stg::StgAncestor::token, Stg::StgModel::world, Stg::stg_pose_t::x, and Stg::stg_pose_t::y.

void StgModelPosition::SetOdom

(

stg_pose_t

odom

)

Set the current pose estimate.

Set the current odometry estimate

References Stg::stg_pose_t::a, est_origin, est_pose, Stg::StgModel::GetGlobalPose(), Stg::stg_pose_t::x, and Stg::stg_pose_t::y.

void StgModelPosition::SetSpeed

(

stg_velocity_t

vel

)

References Stg::STG_POSITION_CONTROL_VELOCITY, and Stg::StgModel::velocity.

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

Sets the control_mode to STG_POSITION_CONTROL_VELOCITY and sets the goal velocity.

References Stg::stg_pose_t::a, Stg::STG_POSITION_CONTROL_VELOCITY, Stg::stg_pose_t::x, Stg::stg_pose_t::y, and Stg::stg_pose_t::z.

Referenced by InterfacePosition::ProcessMessage().

void StgModelPosition::SetTurnSpeed

(

double

a

)

References Stg::stg_pose_t::a, and Stg::STG_POSITION_CONTROL_VELOCITY.

void StgModelPosition::SetXSpeed

(

double

x

)

References Stg::STG_POSITION_CONTROL_VELOCITY, and Stg::stg_pose_t::x.

void StgModelPosition::SetYSpeed

(

double

y

)

References Stg::STG_POSITION_CONTROL_VELOCITY, and Stg::stg_pose_t::y.

void StgModelPosition::SetZSpeed

(

double

z

)

References Stg::STG_POSITION_CONTROL_VELOCITY, and Stg::stg_pose_t::z.

void StgModelPosition::Shutdown

(

void

)

[virtual]

Reimplemented from Stg::StgModel.

References PRINT_DEBUG, Stg::StgModel::SetWatts(), Stg::StgModel::Shutdown(), and Stg::StgModel::velocity.

void StgModelPosition::Startup

(

void

)

[virtual]

Reimplemented from Stg::StgModel.

References PRINT_DEBUG, Stg::StgModel::SetWatts(), Stg::StgModel::Startup(), and STG_POSITION_WATTS.

void StgModelPosition::Update

(

void

)

[virtual]

Reimplemented from Stg::StgModel.

References Stg::stg_pose_t::a, est_origin, est_pose, Stg::StgModel::GetGlobalPose(), Stg::StgWorld::GetSimInterval(), Stg::normalize(), PRINT_DEBUG, PRINT_DEBUG1, PRINT_DEBUG2, PRINT_DEBUG3, PRINT_DEBUG4, PRINT_ERR1, PRINT_ERR2, Stg::StgModel::SetVelocity(), Stg::StgWorld::sim_time, Stg::STG_POSITION_CONTROL_POSITION, Stg::STG_POSITION_CONTROL_VELOCITY, Stg::STG_POSITION_DRIVE_CAR, Stg::STG_POSITION_DRIVE_DIFFERENTIAL, Stg::STG_POSITION_DRIVE_OMNI, Stg::STG_POSITION_LOCALIZATION_GPS, Stg::STG_POSITION_LOCALIZATION_ODOM, Stg::StgModel::subs, Stg::StgAncestor::token, Stg::StgModel::Update(), Stg::StgModel::world, Stg::stg_pose_t::x, and Stg::stg_pose_t::y.

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Member Data Documentation

stg_pose_t Stg::StgModelPosition::est_origin

global origin of the local coordinate system

Referenced by Load(), SetOdom(), and Update().

stg_pose_t Stg::StgModelPosition::est_pose

position estimate in local coordinates

Referenced by Load(), InterfacePosition::Publish(), SetOdom(), and Update().

stg_pose_t Stg::StgModelPosition::est_pose_error

estimated error in position estimate

Referenced by Load().

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

• stage.hh
• model_position.cc