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()

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()

◆ 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: