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#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 () |
Definition at line 39 of file ObstacleAvoidingPlatformUnitHelper.h.
ObstacleAvoidingPlatformUnitHelper | ( | armarx::PlatformUnitInterfacePrx | platform_unit, |
VirtualRobot::RobotPtr | robot | ||
) |
Definition at line 31 of file ObstacleAvoidingPlatformUnitHelper.cpp.
ObstacleAvoidingPlatformUnitHelper | ( | armarx::PlatformUnitInterfacePrx | platform_unit, |
VirtualRobot::RobotPtr | robot, | ||
const Config & | cfg | ||
) |
Definition at line 39 of file ObstacleAvoidingPlatformUnitHelper.cpp.
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virtual |
Definition at line 48 of file ObstacleAvoidingPlatformUnitHelper.cpp.
void addWaypoint | ( | const Eigen::Vector2f & | waypoint_pos, |
float | waypoint_ori | ||
) |
Definition at line 106 of file ObstacleAvoidingPlatformUnitHelper.cpp.
void addWaypoint | ( | const Target & | waypoint | ) |
Definition at line 121 of file ObstacleAvoidingPlatformUnitHelper.cpp.
armarx::ObstacleAvoidingPlatformUnitHelper::Target getCurrentTarget | ( | ) | const |
Definition at line 70 of file ObstacleAvoidingPlatformUnitHelper.cpp.
float getOrientationError | ( | ) | const |
Definition at line 172 of file ObstacleAvoidingPlatformUnitHelper.cpp.
float getPositionError | ( | ) | const |
Definition at line 165 of file ObstacleAvoidingPlatformUnitHelper.cpp.
bool isCurrentTargetNear | ( | ) | const |
Definition at line 133 of file ObstacleAvoidingPlatformUnitHelper.cpp.
bool isCurrentTargetReached | ( | ) | const |
Definition at line 140 of file ObstacleAvoidingPlatformUnitHelper.cpp.
bool isFinalTargetNear | ( | ) | const |
Definition at line 147 of file ObstacleAvoidingPlatformUnitHelper.cpp.
bool isFinalTargetReached | ( | ) | const |
Definition at line 153 of file ObstacleAvoidingPlatformUnitHelper.cpp.
bool isLastWaypoint | ( | ) | const |
Definition at line 127 of file ObstacleAvoidingPlatformUnitHelper.cpp.
Definition at line 159 of file ObstacleAvoidingPlatformUnitHelper.cpp.
void setTarget | ( | const Eigen::Vector2f & | target_pos, |
float | target_ori | ||
) |
Definition at line 54 of file ObstacleAvoidingPlatformUnitHelper.cpp.
void setTarget | ( | const Target & | target | ) |
Definition at line 61 of file ObstacleAvoidingPlatformUnitHelper.cpp.
void setWaypoints | ( | const std::vector< Target > & | waypoints | ) |
Definition at line 113 of file ObstacleAvoidingPlatformUnitHelper.cpp.
void update | ( | ) |
Definition at line 76 of file ObstacleAvoidingPlatformUnitHelper.cpp.