SmoothPathCtrl aims at reaching an oriented point with the robot, using a smooth path generator. More...

#include <smoothPath.hpp>

Inheritance diagram for SmoothPathCtrl:

Signals
void	pathChanged ()
	Update the display of the path. More...

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...

Public Member Functions
void	chooseVelocities (double &trans_vel, double &rot_vel, std::ostream &)
	Computes new velocities for ROS node. More...

const std::list< State * > &	getAimedTrajectory () const
	Transform the planned path into an aimed trajectory. More...

const iSeeML::rob::Path &	getPath () const
	Get the path to the aimed oriented point. More...

	SmoothPathCtrl (const MotionModel &model, const double &ts, const State &goal_aimed)
	The constructor needs a motion model, a time step and a goal state. More...

virtual	~SmoothPathCtrl ()
	The destructor needs to be explicitely redefined. More...

Public Member Functions inherited from ReachingCtrl
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
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...

Private Member Functions
void	setGoal (const State &goal)
	Set the state which is aimed. More...

Private Attributes
double	distance
	The distance already covered. More...

iSeeML::rob::FscPath	path
	The computed smooth path. More...

double	total_distance
	The distance to cover. More...

Additional Inherited Members
Protected Member Functions inherited from ReachingCtrl
void	newState (const State &state)
	Handles new state of the robot. 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 inherited from ReachingCtrl
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...

Detailed Description

SmoothPathCtrl aims at reaching an oriented point with the robot, using a smooth path generator.

A smooth path reaching the aimed oriented point is computed, and followed blindly (without recomputation with respect to odometry).

Since: 0.3.2

Definition at line 26 of file smoothPath.hpp.

Constructor & Destructor Documentation

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

inline

The constructor needs a motion model, a time step and a goal state.

Parameters

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

See also: ReachingCtrl(const MotionModel&, const double&, const State&)

Definition at line 47 of file smoothPath.hpp.

virtual SmoothPathCtrl::~SmoothPathCtrl ( )

inlinevirtual

The destructor needs to be explicitely redefined.

Definition at line 53 of file smoothPath.hpp.

Member Function Documentation

void SmoothPathCtrl::chooseVelocities	(	double &	trans_vel,
		double &	rot_vel,
		std::ostream &	log_str
	)

virtual

Computes new velocities for ROS node.

This method has to be defined by inheritors. It should use updateVelocities.

Parameters

trans_vel	the translation velocity, sent by the ROS node to ROS,
rot_vel	the rotation velocity, sent to ROS,
log_str	the log stream, allowing to log debug data.

Implements Controller.

Definition at line 123 of file smoothPath.cpp.

const std::list< State * > & SmoothPathCtrl::getAimedTrajectory ( ) const

Transform the planned path into an aimed trajectory.

Returns: The trajectory obtained from the planned path.

Transform the planned path into an aimed trajectory. Return The trajectory obtained from the planned path.

Definition at line 64 of file smoothPath.cpp.

const iSeeML::rob::Path & SmoothPathCtrl::getPath ( ) const

Get the path to the aimed oriented point.

Returns: The path to the aimed oriented point.

Definition at line 39 of file smoothPath.cpp.

void SmoothPathCtrl::pathChanged ( )

signal

Update the display of the path.

void SmoothPathCtrl::setGoal ( const State & new_goal )

privatevirtual

Set the state which is aimed.

Parameters

new_goal the new aimed state.

Reimplemented from ReachingCtrl.

Definition at line 14 of file smoothPath.cpp.

Member Data Documentation

double SmoothPathCtrl::distance

private

The distance already covered.

Definition at line 31 of file smoothPath.hpp.

iSeeML::rob::FscPath SmoothPathCtrl::path

private

The computed smooth path.

Definition at line 29 of file smoothPath.hpp.

double SmoothPathCtrl::total_distance

private

The distance to cover.

Definition at line 30 of file smoothPath.hpp.

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

Signals

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation