Stg::ModelPosition Class Reference

ModelPosition class More...

#include <stage.hh>

Inherits Stg::Model.

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 (Pose pose)
void	GoTo (double x, double y, double a)
virtual void	Load ()
	ModelPosition (World *world, Model *parent, const std::string &type)
void	SetOdom (Pose odom)
void	SetSpeed (Velocity 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 ()
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

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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:

CONTROL_VELOCITY
CONTROL_POSITION

enum Stg::ModelPosition::DriveMode

Define a driving method

Enumerator:

DRIVE_DIFFERENTIAL
DRIVE_OMNI
DRIVE_CAR

enum Stg::ModelPosition::LocalizationMode

Define a localization method

Enumerator:

LOCALIZATION_GPS
LOCALIZATION_ODOM

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Constructor & Destructor Documentation

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

ModelPosition::~ModelPosition

(

void

)

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Member Function Documentation

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

)

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

Stg::ModelPosition::PoseVis Stg::ModelPosition::posevis

std::vector<Waypoint> Stg::ModelPosition::waypoints

Stg::ModelPosition::WaypointVis Stg::ModelPosition::wpvis

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

• stage.hh
• model_position.cc