ObstacleAvoidingPlatformUnitHelper Class Reference

#include <RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.h>

Classes
struct	Config
struct	Target

Public Member Functions
void	addWaypoint (const Eigen::Vector2f &waypoint_pos, float waypoint_ori)
void	addWaypoint (const Target &waypoint)
Target	getCurrentTarget () const
float	getOrientationError () const
float	getPositionError () const
bool	isCurrentTargetNear () const
bool	isCurrentTargetReached () const
bool	isFinalTargetNear () const
bool	isFinalTargetReached () const
bool	isLastWaypoint () const
	ObstacleAvoidingPlatformUnitHelper (armarx::PlatformUnitInterfacePrx platform_unit, VirtualRobot::RobotPtr robot)
	ObstacleAvoidingPlatformUnitHelper (armarx::PlatformUnitInterfacePrx platform_unit, VirtualRobot::RobotPtr robot, const Config &cfg)
void	setMaxVelocities (float max_vel, float max_angular_vel)
void	setTarget (const Eigen::Vector2f &target_pos, float target_ori)
void	setTarget (const Target &target)
void	setWaypoints (const std::vector< Target > &waypoints)
void	update ()
virtual	~ObstacleAvoidingPlatformUnitHelper ()

Detailed Description

Definition at line 40 of file ObstacleAvoidingPlatformUnitHelper.h.

Constructor & Destructor Documentation

ObstacleAvoidingPlatformUnitHelper() [1/2]

ObstacleAvoidingPlatformUnitHelper	(	armarx::PlatformUnitInterfacePrx	platform_unit,
		VirtualRobot::RobotPtr	robot
	)

Definition at line 31 of file ObstacleAvoidingPlatformUnitHelper.cpp.

ObstacleAvoidingPlatformUnitHelper() [2/2]

ObstacleAvoidingPlatformUnitHelper	(	armarx::PlatformUnitInterfacePrx	platform_unit,
		VirtualRobot::RobotPtr	robot,
		const Config &	cfg
	)

Definition at line 40 of file ObstacleAvoidingPlatformUnitHelper.cpp.

~ObstacleAvoidingPlatformUnitHelper()

~ObstacleAvoidingPlatformUnitHelper ( )

virtual

Definition at line 52 of file ObstacleAvoidingPlatformUnitHelper.cpp.

Member Function Documentation

addWaypoint() [1/2]

void addWaypoint	(	const Eigen::Vector2f &	waypoint_pos,
		float	waypoint_ori
	)

Definition at line 117 of file ObstacleAvoidingPlatformUnitHelper.cpp.

addWaypoint() [2/2]

void addWaypoint

(

const Target &

waypoint

)

Definition at line 133 of file ObstacleAvoidingPlatformUnitHelper.cpp.

getCurrentTarget()

armarx::ObstacleAvoidingPlatformUnitHelper::Target getCurrentTarget

(

)

const

Definition at line 78 of file ObstacleAvoidingPlatformUnitHelper.cpp.

getOrientationError()

float getOrientationError

(

)

const

Definition at line 196 of file ObstacleAvoidingPlatformUnitHelper.cpp.

getPositionError()

float getPositionError

(

)

const

Definition at line 187 of file ObstacleAvoidingPlatformUnitHelper.cpp.

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isCurrentTargetNear()

bool isCurrentTargetNear

(

)

const

Definition at line 148 of file ObstacleAvoidingPlatformUnitHelper.cpp.

isCurrentTargetReached()

bool isCurrentTargetReached

(

)

const

Definition at line 156 of file ObstacleAvoidingPlatformUnitHelper.cpp.

isFinalTargetNear()

bool isFinalTargetNear

(

)

const

Definition at line 164 of file ObstacleAvoidingPlatformUnitHelper.cpp.

isFinalTargetReached()

bool isFinalTargetReached

(

)

const

Definition at line 172 of file ObstacleAvoidingPlatformUnitHelper.cpp.

isLastWaypoint()

bool isLastWaypoint

(

)

const

Definition at line 140 of file ObstacleAvoidingPlatformUnitHelper.cpp.

setMaxVelocities()

void setMaxVelocities	(	float	max_vel,
		float	max_angular_vel
	)

Definition at line 180 of file ObstacleAvoidingPlatformUnitHelper.cpp.

setTarget() [1/2]

void setTarget	(	const Eigen::Vector2f &	target_pos,
		float	target_ori
	)

Definition at line 59 of file ObstacleAvoidingPlatformUnitHelper.cpp.

setTarget() [2/2]

void setTarget

(

const Target &

target

)

Definition at line 68 of file ObstacleAvoidingPlatformUnitHelper.cpp.

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setWaypoints()

void setWaypoints

(

const std::vector< Target > &

waypoints

)

Definition at line 124 of file ObstacleAvoidingPlatformUnitHelper.cpp.

update()

void update

(

)

Definition at line 86 of file ObstacleAvoidingPlatformUnitHelper.cpp.

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

• RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.h
• RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.cpp