ReachingCtrl Class Reference

ReachingCtrl aims at reaching a given state with the robot. More...

#include <reach.hpp>

Inheritance diagram for ReachingCtrl:

Public Member Functions
virtual void	changeGoal (const State &goal)
	Change the oriented point which is aimed. More...
const State &	getGoal () const
	Get the state which is aimed. More...
	ReachingCtrl (const MotionModel &model, const double &ts, const State &goal_aimed)
	The constructor needs a motion model, a time step and a goal state (in the robot's frame). More...
Public Member Functions inherited from Controller
virtual void	chooseVelocities (double &trans_vel, double &rot_vel, std::ostream &log_str)=0
	Computes new velocities for ROS node. More...
void	stopMotion ()
	Stops the robot (i.e. sets both velocities to zero). More...
const double &	timeStep () const
	Stops the robot (i.e. sets both velocities to zero). More...
virtual	~Controller ()
	The destructor needs to be defined as virtual. More...

Protected Member Functions
void	newState (const State &state)
	Handles new state of the robot. More...
virtual void	setGoal (const State &new_goal)
	Set the state which is aimed. More...
Protected Member Functions inherited from Controller
void	changeFirstOdometry ()
	Change the odometry data status (first or not). More...
	Controller (const MotionModel &model, const double &ts)
	This constructor (for the inheriting controllers) sets the motion model to the given one. More...
bool	firstOdometry ()
	Are the odometry data the first? More...
void	updateVelocities (double &trans_vel, double &rot_vel)
	Update the velocities from the fields and send the update signal. More...

Protected Attributes
State	state
	The state of the robot. More...
Protected Attributes inherited from Controller
double	initial_date
	The first date of the odometry. More...
const MotionModel &	motion_model
	The model of the motion. More...
double	moving_velocity
	Translation velocity desired for the robot. More...
const double	time_step
	The time step of the controller. More...
double	turning_velocity
	Rotation velocity desired for the robot. More...

Private Attributes
State	goal
	The state which is aimed. More...

Additional Inherited Members
Signals inherited from Controller
void	commandsUpdated (const double &trans_vel, const double &rot_vel)
	Update the display of the controller's commands. More...
void	stateUpdated (const State &state)
	Update the display of the state. More...

Detailed Description

ReachingCtrl aims at reaching a given state with the robot.

The aimed state will be considered to be given in the robot's original frame (defined by the original oriented point, as given by the first odometry data).

Since

0.3.2

Definition at line 25 of file reach.hpp.

Constructor & Destructor Documentation

ReachingCtrl::ReachingCtrl ( const MotionModel &  model, const double &  ts, const State &  goal_aimed  )

inline

The constructor needs a motion model, a time step and a goal state (in the robot's frame).

Parameters

model	the motion model,
ts	the time step of the controller,
goal_aimed	the goal configuration.

See also

Controller(const MotionModel&, const double&)

Definition at line 56 of file reach.hpp.

Member Function Documentation

virtual void ReachingCtrl::changeGoal ( const State &  goal )

inlinevirtual

Change the oriented point which is aimed.

Parameters

goal	the new aimed state, in the robot's frame.

Definition at line 66 of file reach.hpp.

const State& ReachingCtrl::getGoal ( ) const

inline

Get the state which is aimed.

Returns

The state which is aimed.

Definition at line 62 of file reach.hpp.

void ReachingCtrl::newState ( const State &  state )

inlineprotectedvirtual

Handles new state of the robot.

Parameters

state

the new state of the robot, from odometry.

This method can be overwritten by inheritors.

Reimplemented from Controller.

Definition at line 34 of file reach.hpp.

virtual void ReachingCtrl::setGoal ( const State &  new_goal )

inlineprotectedvirtual

Set the state which is aimed.

Parameters

new_goal

the new aimed state.

Reimplemented in SmoothPathCtrl.

Definition at line 44 of file reach.hpp.

Member Data Documentation

State ReachingCtrl::goal

private

The state which is aimed.

Definition at line 28 of file reach.hpp.

State ReachingCtrl::state

protected

The state of the robot.

Definition at line 31 of file reach.hpp.

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

• reach.hpp