armarx_documentation: 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 39 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 39 of file ObstacleAvoidingPlatformUnitHelper.cpp.

◆ ~ObstacleAvoidingPlatformUnitHelper()

~ObstacleAvoidingPlatformUnitHelper ( )

virtual

Definition at line 48 of file ObstacleAvoidingPlatformUnitHelper.cpp.

Member Function Documentation

◆ addWaypoint() [1/2]

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

Definition at line 106 of file ObstacleAvoidingPlatformUnitHelper.cpp.

◆ addWaypoint() [2/2]

void addWaypoint ( const Target & waypoint )

Definition at line 121 of file ObstacleAvoidingPlatformUnitHelper.cpp.

◆ getCurrentTarget()

armarx::ObstacleAvoidingPlatformUnitHelper::Target getCurrentTarget ( ) const

Definition at line 70 of file ObstacleAvoidingPlatformUnitHelper.cpp.

◆ getOrientationError()

float getOrientationError ( ) const

Definition at line 172 of file ObstacleAvoidingPlatformUnitHelper.cpp.

◆ getPositionError()

float getPositionError ( ) const

Definition at line 165 of file ObstacleAvoidingPlatformUnitHelper.cpp.

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◆ isCurrentTargetNear()

bool isCurrentTargetNear ( ) const

Definition at line 133 of file ObstacleAvoidingPlatformUnitHelper.cpp.

◆ isCurrentTargetReached()

bool isCurrentTargetReached ( ) const

Definition at line 140 of file ObstacleAvoidingPlatformUnitHelper.cpp.

◆ isFinalTargetNear()

bool isFinalTargetNear ( ) const

Definition at line 147 of file ObstacleAvoidingPlatformUnitHelper.cpp.

◆ isFinalTargetReached()

bool isFinalTargetReached ( ) const

Definition at line 153 of file ObstacleAvoidingPlatformUnitHelper.cpp.

◆ isLastWaypoint()

bool isLastWaypoint ( ) const

Definition at line 127 of file ObstacleAvoidingPlatformUnitHelper.cpp.

◆ setMaxVelocities()

void setMaxVelocities	(	float	max_vel,
		float	max_angular_vel
	)

Definition at line 159 of file ObstacleAvoidingPlatformUnitHelper.cpp.

◆ setTarget() [1/2]

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

Definition at line 54 of file ObstacleAvoidingPlatformUnitHelper.cpp.

◆ setTarget() [2/2]

void setTarget ( const Target & target )

Definition at line 61 of file ObstacleAvoidingPlatformUnitHelper.cpp.

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◆ setWaypoints()

void setWaypoints ( const std::vector< Target > & waypoints )

Definition at line 113 of file ObstacleAvoidingPlatformUnitHelper.cpp.

◆ update()

void update ( )

Definition at line 76 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