A tool for moving a tank robot to a specified position in space. More...

#include <robot_positioner.h>

Public Member Functions
template<class TankType2 >
	RobotPositioner (TankType2 &tank, PoseGetterType &poseGetter, meter_t stoppingDistance, radian_t allowedHeadingError, double k1, double k2, double alpha, double beta, meter_t startSlowingAt=0_m, float robotMinSpeed=0.2f, float robotMaxSpeed=1.f)

void	moveTo (const Pose2< meter_t, radian_t > &pose)

const auto &	getRobot () const

auto &	getRobot ()

const auto &	getPose () const

const auto &	getGoalPose () const

auto	distanceToGoal () const

void	reset ()

bool	pollPositioner ()

void	updateVelocities (meters_per_second_t &v, radians_per_second_t &omega)

bool	reachedGoal () const
	returns true if the robot reached the goal position

Detailed Description

template<class TankType, class PoseGetterType>
class BoBRobotics::Robots::RobotPositioner< TankType, PoseGetterType >

A tool for moving a tank robot to a specified position in space.

This class requires that we have a mechanism for obtaining the robot's pose, with, e.g. a Vicon system (see Vicon::UDPClient). The algorithm used is drawn from: https://web.eecs.umich.edu/~kuipers/papers/Park-icra-11.pdf

Member Function Documentation

◆ updateVelocities()

template<class TankType , class PoseGetterType >

void BoBRobotics::Robots::RobotPositioner< TankType, PoseGetterType >::updateVelocities	(	meters_per_second_t &	v,
		radians_per_second_t &	omega
	)

inline

updates the velocities in order to get to a goal location. This function can be used without a robot interface, where only velocities are calculated but no robot actions will be executed.

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

include/robots/control/robot_positioner.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ updateVelocities()