MipResources::MobileRob3D Class Reference
[Mobile robot 3D]

represents an abstract mobile robot in 3D More...

#include <MobileRob3D.h>

Inheritance diagram for MipResources::MobileRob3D:

List of all members.

Public Member Functions
	MobileRob3D ()
	whether (1) or not (0) localization is given by simple odometry
	MobileRob3D (int argc, const char *argv[])
virtual MobileRob3DPar *	robPar ()
virtual MobileRob3DVar *	robVar ()
virtual Unicycle3DPar *	unicycle3DPar ()
	get unicycle parameters
virtual void	velCmd (Decimal drive, Decimal turnrate)
	velocity commands
virtual void	getVel (Decimal &drive, Decimal &turnrate)
	get vel
virtual Pose3D	getPose (void)
	get pose3D (dead reckoning) if selected
virtual void	setPose (Pose3D p)
	set Pose3D (dead reckoning)
virtual void	getOdometry (MIPMatrix &RobStat, Decimal *ENCtime)
	get the odometry from the unicycle
virtual bool	getGPSMeasures (Position3D &pos, Decimal *MeasTime)
virtual bool	getRefGPSMeasures (Position3D &pos, Decimal *MeasTime)
virtual bool	getIMUMeasures (Acceleration3D &acc, Acceleration3D &gyro, Orientation3D &magn, Decimal *MeasTime)
void	setGoal (Pose3D g)
	sets the goal
Pose3D	goal ()
	get the goal
void	setGoalVel (Position gv)
	sets the goalVel
Position	goalVel ()
	get the goalVel
Protected Attributes
MobileRob3DOptions	options
MobileRob3DPar *	_par
MobileRob3DVar *	_var
Unicycle3D *	_unicycle3D
RangeSens *	_rangeSens
PositionDetector3D *	_positionDetector3D
Imu *	_imu
ScanTypes	rangeSensorType
bool	unicycleActive
bool	rangeSensActive
bool	rangeSensmmActive
bool	infraredActive
bool	sonarActive
bool	gpsActive
bool	imuActive
bool	useOdometryLocalization

---

Detailed Description

represents an abstract mobile robot in 3D

Author:

Mauro Pagliarella and Paolo Stegagno

---

Constructor & Destructor Documentation

MipResources::MobileRob3D::MobileRob3D

(

)

[inline]

whether (1) or not (0) localization is given by simple odometry

null constructor

MipResources::MobileRob3D::MobileRob3D	(	int	argc,
		const char *	argv[]
	)			[inline]

options constructor (this is the constructor called using the scheduler)

---

Member Function Documentation

virtual MobileRob3DPar* MipResources::MobileRob3D::robPar

(

)

[inline, virtual]

get Robot parameters

virtual MobileRob3DVar* MipResources::MobileRob3D::robVar

(

)

[inline, virtual]

get Robot variables

virtual Unicycle3DPar* MipResources::MobileRob3D::unicycle3DPar

(

)

[inline, virtual]

get unicycle parameters

virtual void MipResources::MobileRob3D::velCmd	(	Decimal	drive,
		Decimal	turnrate
	)			[inline, virtual]

velocity commands

virtual void MipResources::MobileRob3D::getVel	(	Decimal &	drive,
		Decimal &	turnrate
	)			[inline, virtual]

get vel

Parameters:

	drive	current linear velocyty drive
	turnrate	current turnrate

virtual Pose3D MipResources::MobileRob3D::getPose

(

void

)

[inline, virtual]

get pose3D (dead reckoning) if selected

virtual void MipResources::MobileRob3D::setPose

(

Pose3D

p

)

[inline, virtual]

set Pose3D (dead reckoning)

virtual void MipResources::MobileRob3D::getOdometry	(	MIPMatrix &	RobStat,
		Decimal *	ENCtime
	)			[inline, virtual]

get the odometry from the unicycle

virtual bool MipResources::MobileRob3D::getGPSMeasures	(	Position3D &	pos,
		Decimal *	MeasTime
	)			[inline, virtual]

virtual bool MipResources::MobileRob3D::getRefGPSMeasures	(	Position3D &	pos,
		Decimal *	MeasTime
	)			[inline, virtual]

virtual bool MipResources::MobileRob3D::getIMUMeasures	(	Acceleration3D &	acc,
		Acceleration3D &	gyro,
		Orientation3D &	magn,
		Decimal *	MeasTime
	)			[inline, virtual]

void MipResources::MobileRob3D::setGoal

(

Pose3D

g

)

[inline]

sets the goal

Pose3D MipResources::MobileRob3D::goal

(

)

[inline]

get the goal

void MipResources::MobileRob3D::setGoalVel

(

Position

gv

)

[inline]

sets the goalVel

Position MipResources::MobileRob3D::goalVel

(

)

[inline]

get the goalVel

---

Member Data Documentation

MobileRob3DOptions MipResources::MobileRob3D::options [protected]

options for the mobile robot

MobileRob3DPar* MipResources::MobileRob3D::_par [protected]

abstract Robot parameters

MobileRob3DVar* MipResources::MobileRob3D::_var [protected]

abstract Robot variables

Unicycle3D* MipResources::MobileRob3D::_unicycle3D [protected]

abstract Robot motion module

RangeSens* MipResources::MobileRob3D::_rangeSens [protected]

abstract Robot range sensor

PositionDetector3D* MipResources::MobileRob3D::_positionDetector3D [protected]

abstract Robot position detector

Imu* MipResources::MobileRob3D::_imu [protected]

abstract Robot imu sensor

ScanTypes MipResources::MobileRob3D::rangeSensorType [protected]

0 if the range sensor in use is in m, 1 if in mm

bool MipResources::MobileRob3D::unicycleActive [protected]

bool MipResources::MobileRob3D::rangeSensActive [protected]

bool MipResources::MobileRob3D::rangeSensmmActive [protected]

bool MipResources::MobileRob3D::infraredActive [protected]

bool MipResources::MobileRob3D::sonarActive [protected]

bool MipResources::MobileRob3D::gpsActive [protected]

bool MipResources::MobileRob3D::imuActive [protected]

bool MipResources::MobileRob3D::useOdometryLocalization [protected]

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

• resources/MobileRob3D/MobileRob3D.h