MipResources::MotionModule Class Reference
[Motion module]

Unycicle Motion Module (Pure virtual). More...

#include <MotionModule.h>

Inheritance diagram for MipResources::MotionModule:

List of all members.

Public Member Functions
	MotionModule (int argc, const char *argv[])
	Options constructor.
virtual ResourcePlate	getPlate () const =0
	Gets the plate of the resource.
MotionModuleTState	getState ()
	Gets the current state (pose, velocities and timeStamp).
virtual MotionModuleTState	getState (Time ts)
	Gets the state refferred to a certain timestamp, if inside the log may be interpolated, if after (but before now) a new state is got, otherwise fatal is called.
bool	setState (MotionModuleState state, bool setPastTimeStamp=false, Time pastTimeStamp=Time())
	Sets the pose and velocities of the robot. If setPastTimeStamp is true and then it sets the pose and velocities referred pastTimeStamp and accordingly updates the current pose and velocities. If setPastTimeStamp is false it sets the current pose and velocities.
bool	setState (MotionModuleState correctedState, MotionModuleState &finalState, bool setPastTimeStamp=false, Time pastTimeStamp=Time())
	Sets the pose and velocities of the robot. If setPastTimeStamp is true and then it sets the pose and velocities referred pastTimeStamp and accordingly updates the current pose and velocities. If setPastTimeStamp is false it sets the current pose and velocities.
void	setCommands (Decimal drive, Decimal turnrate, bool scaled=true)
	Sets velocity commands.
void	setCommands (Decimal drive, Decimal turnrate, MotionModuleTState &finalTState, bool scaled=true)
	Sets velocity commands.
void	setCommandsAndTState (MotionModuleState correctedState, Decimal drive, Decimal turnrate, MotionModuleTState &finalTState, bool scaled=true, bool setPastTimeStamp=false, Time pastTimeStamp=Time())
	Sets velocity commands and TState.
virtual MotionModulePar *	getPar (void)
	Get parameters.
void	getCurvature (Decimal &c, bool &infinity)
	Gets an estimate of the curvature of the current path on the basis of the localization.
Protected Member Functions
virtual MotionModuleTState	_providedLocStep ()=0
virtual void	_providedLocSet (MotionModuleState state)=0
virtual void	_providedSetCommands (Decimal drive, Decimal turnrate)=0
Protected Attributes
MotionModuleTStateLog	_varLog
MotionModulePar *	_par
MotionModuleTState *	_var
MotionModuleOptions	_options

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Detailed Description

Unycicle Motion Module (Pure virtual).

Author:

Antonio Franchi

Todo:

Implement the commands scaling.

Todo:

Make _var a mutexed resource.

Todo:

Implement the commands scaling.

Todo:

Change name in Unycicle and create a more abstract MotionModel.

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Constructor & Destructor Documentation

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

Options constructor.

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Member Function Documentation

virtual MotionModuleTState MipResources::MotionModule::_providedLocStep

(

)

[protected, pure virtual]

Implemented in MipResources::DiffDrive, and MipResources::RemoteMotionModule.

virtual void MipResources::MotionModule::_providedLocSet

(

MotionModuleState

state

)

[protected, pure virtual]

Implemented in MipResources::DiffDrive, and MipResources::RemoteMotionModule.

virtual void MipResources::MotionModule::_providedSetCommands	(	Decimal	drive,
		Decimal	turnrate
	)			[protected, pure virtual]

Implemented in MipResources::DiffDrive, and MipResources::RemoteMotionModule.

virtual ResourcePlate MipResources::MotionModule::getPlate

(

)

const [pure virtual]

Gets the plate of the resource.

Implements MipResources::Resource.

Implemented in MipResources::Korebot, MipResources::KorebotROS, MipResources::Unicycle, MipResources::DiffDrive, MipResources::RemoteMotionModule, and MipResources::WebotsKoremot.

MotionModuleTState MipResources::MotionModule::getState

(

)

Gets the current state (pose, velocities and timeStamp).

Returns:

The state (pose and velocities).

MotionModuleTState MipResources::MotionModule::getState

(

Time

ts

)

[virtual]

Gets the state refferred to a certain timestamp, if inside the log may be interpolated, if after (but before now) a new state is got, otherwise fatal is called.

Returns:

Returned TState.

Parameters:

[in]

ts

The returned TState must have this timestamp.

Reimplemented in MipResources::KorebotROS.

bool MipResources::MotionModule::setState	(	MotionModuleState	state,
		bool	setPastTimeStamp = false,
		Time	pastTimeStamp = Time()
	)

Sets the pose and velocities of the robot. If setPastTimeStamp is true and then it sets the pose and velocities referred pastTimeStamp and accordingly updates the current pose and velocities. If setPastTimeStamp is false it sets the current pose and velocities.

Returns:

true if ok, false if the timestamp refers to the future or other errors occurred.

Parameters:

[in]	&state	Pose velocities to set and timeStamp they refer to.
[in]	&setPastTimeStamp	If true it sets the pose and velocities referred pastTimeStamp and accordingly updates the current pose and velocities. If false it sets the current pose and velocities.
[in]	&pastTimeStamp	Time stamp in the past, make sense only if setPastTimeStamp is true .

Todo:

To implement the check on future.

Todo:

To implement the prediction on all the following states of the log and on the velocities.

bool MipResources::MotionModule::setState	(	MotionModuleState	correctedState,
		MotionModuleState &	finalState,
		bool	setPastTimeStamp = false,
		Time	pastTimeStamp = Time()
	)

Sets the pose and velocities of the robot. If setPastTimeStamp is true and then it sets the pose and velocities referred pastTimeStamp and accordingly updates the current pose and velocities. If setPastTimeStamp is false it sets the current pose and velocities.

Returns:

true if ok, false if the timestamp refers to the future or other errors occurred.

Parameters:

[in]	&state	Pose velocities to set and timeStamp they refer to.
[out]	&finalState	Actual MotionModuleTState after the correction.
[in]	&setPastTimeStamp	If true it sets the pose and velocities referred pastTimeStamp and accordingly updates the current pose and velocities. If false it sets the current pose and velocities.
[in]	&pastTimeStamp	Time stamp in the past, make sense only if setPastTimeStamp is true .

Todo:

To implement the check on future.

Todo:

To implement the prediction on all the following states of the log and on the velocities.

void MipResources::MotionModule::setCommands	(	Decimal	drive,
		Decimal	turnrate,
		bool	scaled = true
	)

Sets velocity commands.

Note:

This method must be implemented by the derived class on the basis of the real structure of the module.

Parameters:

	drive	Linear velocity command.
	turnrate	Sngular velocity command.
	scaled	If true the actual velocity commands are scaled whenever a saturation is detected.

void MipResources::MotionModule::setCommands	(	Decimal	drive,
		Decimal	turnrate,
		MotionModuleTState &	finalTState,
		bool	scaled = true
	)

Sets velocity commands.

Note:

This method must be implemented by the derived class on the basis of the real structure of the module.

Parameters:

[in]	drive	Linear velocity command.
[in]	turnrate	Angular velocity command.
[out]	&finalTState	Actual MotionModuleTState.
[in]	scaled	If true the actual velocity commands are scaled whenever a saturation is detected.

void MipResources::MotionModule::setCommandsAndTState	(	MotionModuleState	correctedState,
		Decimal	drive,
		Decimal	turnrate,
		MotionModuleTState &	finalTState,
		bool	scaled = true,
		bool	setPastTimeStamp = false,
		Time	pastTimeStamp = Time()
	)

Sets velocity commands and TState.

Note:

This method must be implemented by the derived class on the basis of the real structure of the module.

Parameters:

[in]	correctedState	Pose velocities to set and timeStamp they refer to.
[in]	drive	Linear velocity command.
[in]	turnrate	Angular velocity command.
[out]	&finalSTtate	Actual MotionModuleTState after the correction.
[in]	scaled	If true the actual velocity commands are scaled whenever a saturation is detected.
[in]	&setPastTimeStamp	If true it sets the pose and velocities referred pastTimeStamp and accordingly updates the current pose and velocities. If false it sets the current pose and velocities.
[in]	&pastTimeStamp	Time stamp in the past, make sense only if setPastTimeStamp is true .

virtual MotionModulePar* MipResources::MotionModule::getPar

(

void

)

[inline, virtual]

Get parameters.

Returns:

Pointer to the Unicycle parameters

Reimplemented in MipResources::DiffDrive.

void MipResources::MotionModule::getCurvature	(	Decimal &	c,
		bool &	infinity
	)

Gets an estimate of the curvature of the current path on the basis of the localization.

Parameters:

[out]	&c	Current curvature estimate, it is valid only if infinity is true.
[out]	&infinity	true if the estimated curvature is infinite false if it is finite.

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Member Data Documentation

MotionModuleTStateLog MipResources::MotionModule::_varLog [protected]

MotionModulePar* MipResources::MotionModule::_par [protected]

MotionModuleTState* MipResources::MotionModule::_var [protected]

MotionModuleOptions MipResources::MotionModule::_options [protected]

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

• resources/MotionModule/MotionModule.h
• resources/MotionModule/MotionModule.cpp