TrackingCtrl aims at following a trajectory with the robot. More...

#include <track.hpp>

Inheritance diagram for TrackingCtrl:

[legend]

Public Member Functions
virtual void	newState (const State &state)
	Handles new state of the robot. More...

	TrackingCtrl (const MotionModel &model, const double &ts, const char *input_file_name, const iSeeML::rob::OrPtConfig &init_config)
	The constructor needs a motion model, a time step, a file name giving the path to track and an initial configuration. More...

const std::list< State * > &	trajectory () const
	Gives the tracked trajectory. More...

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

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

	FileCtrl (const MotionModel &model, const double &ts, const char *input_file_name=NULL)
	The constructor needs a motion model and an optional input file name. More...

void	setInput (const char *input_file_name)
	Change the input stream to a new file. More...

virtual	~FileCtrl ()
	The destructor closes the input stream, if any. 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...

Protected Member Functions
void	searchGoal (const double &forwardTime=0)
	Moves the goal forward until it gets after the robot's date plus a given amount of time. More...

Protected Member Functions inherited from FileCtrl
void	inputEnd ()
	Close and terminate the input stream. More...

bool	inputEnded () const
	Is the input stream at its end? More...

bool	inputOK () const
	Is the input stream OK for reading? 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
std::list< State * >::const_iterator	goal
	The trajectory's state which is aimed. More...

int	nb_states
	The number of states in the followed trajectory. More...

State	state
	The current state of the robot. More...

std::list< State * >	traject
	The trajectory which should be followed. More...

Protected Attributes inherited from FileCtrl
std::ifstream *	input
	The input stream, if any. 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...

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

TrackingCtrl aims at following a trajectory with the robot.

Since: 0.3.1

Definition at line 23 of file track.hpp.

Constructor & Destructor Documentation

TrackingCtrl::TrackingCtrl	(	const MotionModel &	model,
		const double &	ts,
		const char *	input_file_name,
		const iSeeML::rob::OrPtConfig &	init_config
	)

The constructor needs a motion model, a time step, a file name giving the path to track and an initial configuration.

States from the path are projected into the initial configuration's frame.

Parameters

model	the motion model,
ts	the time step of the controller,
input_file_name	the input file name of the path,
init_config	the initial configuration.

See also: FileCtrl(const MotionModel&, const double&, const char*), iSeeML::rob::OrPtConfig::projection(const iSeeML::rob::OrPtConfig&), list::push_back

Definition at line 26 of file track.cpp.

virtual TrackingCtrl::~TrackingCtrl ( )

inlinevirtual

The destructor needs to be explicitely redefined.

Definition at line 67 of file track.hpp.

Member Function Documentation

virtual void TrackingCtrl::newState ( const State & state )

inlinevirtual

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 70 of file track.hpp.

void TrackingCtrl::searchGoal ( const double & forwardTime = 0 )

inlineprotected

Moves the goal forward until it gets after the robot's date plus a given amount of time.

Parameters

forwardTime the amount of time forward.

Definition at line 38 of file track.hpp.

const std::list<State*>& TrackingCtrl::trajectory ( ) const

inline

Gives the tracked trajectory.

Returns: the tracked trajectory.

Definition at line 75 of file track.hpp.

Member Data Documentation

std::list<State*>::const_iterator TrackingCtrl::goal

protected

The trajectory's state which is aimed.

Definition at line 30 of file track.hpp.

int TrackingCtrl::nb_states

protected

The number of states in the followed trajectory.

Definition at line 28 of file track.hpp.

State TrackingCtrl::state

protected

The current state of the robot.

Definition at line 32 of file track.hpp.

std::list<State*> TrackingCtrl::traject

protected

The trajectory which should be followed.

Definition at line 26 of file track.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation