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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 ()
 

Constructor & Destructor Documentation

◆ ObstacleAvoidingPlatformUnitHelper() [1/2]

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

◆ ObstacleAvoidingPlatformUnitHelper() [2/2]

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

◆ ~ObstacleAvoidingPlatformUnitHelper()

~ObstacleAvoidingPlatformUnitHelper ( )
virtual

Member Function Documentation

◆ addWaypoint() [1/2]

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

◆ addWaypoint() [2/2]

void addWaypoint ( const Target & waypoint)

◆ getCurrentTarget()

armarx::ObstacleAvoidingPlatformUnitHelper::Target getCurrentTarget ( ) const

◆ getOrientationError()

float getOrientationError ( ) const

◆ getPositionError()

float getPositionError ( ) const

◆ isCurrentTargetNear()

bool isCurrentTargetNear ( ) const

◆ isCurrentTargetReached()

bool isCurrentTargetReached ( ) const

◆ isFinalTargetNear()

bool isFinalTargetNear ( ) const

◆ isFinalTargetReached()

bool isFinalTargetReached ( ) const

◆ isLastWaypoint()

bool isLastWaypoint ( ) const

◆ setMaxVelocities()

void setMaxVelocities ( float max_vel,
float max_angular_vel )

◆ setTarget() [1/2]

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

◆ setTarget() [2/2]

void setTarget ( const Target & target)

◆ setWaypoints()

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

◆ update()

void update ( )
The documentation for this class was generated from the following files: