MipResources::MobileRob Class Reference
[Mobile robot]

Abstract mobile robot. More...

#include <MobileRob.h>

Inheritance diagram for MipResources::MobileRob:

List of all members.

Public Member Functions

MobileRob ()

Default constructor.

MobileRob (int argc, const char *argv[])

Constructor with options.

virtual MobileRobPar * robPar ()

Gets Robot parameters.

virtual MobileRobVar * robVar ()

Gets Robot variables pointer.

void activateMotionThread ()

Initializes the thread for the SND algorithm.

void pauseMotionThread ()

Pause the thread for the SND algorithm but does not close it.

void unpauseMotionThread ()

Unpause the thread for the SND algorithm.

bool isPauseMotionThread ()

Return if motionthread is paused or unpaused.

virtual RangeSensPar * rangeSensPar ()

Gets the parameters of the range sensor.

virtual RangeSensmmPar * rangeSensmmPar ()

Gets the parameters of the range sensor in millimetres.

virtual bool updatedScan (Scan &s)

Gets an updated scan in metres.

virtual bool updatedScan (Scan &s, MotionModuleTState &state)

Gets an updated scan and the state of the robot in that moment.

virtual bool updatedState (MotionModuleTState &state, Time &timeStamp)

Gets an updated state of the robot in that moment.

virtual bool updatedState (MotionModuleTState &state)

Gets an updated state of the robot in that moment.

virtual bool updatedLastState (MotionModuleTState &state, Time &timeStamp, const Decimal &delta)

Gets the last state of the robot in that moment.

virtual bool updatedLastState (MotionModuleTState &state, const Decimal &delta)

Gets the last state of the robot in that moment.

virtual void startScan (unsigned int num)

Starts a continuous scan.

virtual void stopScan ()

Stops a continuous scan.

virtual bool storedScan (Scan &s, Time timeout)

Gets the stored scan.

virtual UnicyclePar * unicyclePar ()

Gets the parameters of the unicycle.

virtual void velCmd (Decimal drive, Decimal turnrate)

Sets the velocity of the unicycle.

virtual void getVel (Decimal &linVel, Decimal &angVel)

Gets the velocity of the unicycle.

virtual Pose getPose ()

Gets the pose of the unicycle.

virtual MotionModuleTState getMotionState ()

Gets the state of the unicycle (pose, velocities and timestamp).

void getCurvature (Decimal &c, bool &infinity)

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

virtual bool setMotionState (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.

virtual void setPose (Pose p)

Sets the current pose of the unicycle.

virtual bool updatedIRScan (Scan &scan)

Gets an updated range IR scan in meters.

virtual bool updatedIRGroundScan (vector< int > &s)

Gets an updated ground IR scan.

virtual bool getSonarMeasures (Scan &scan)

Gets an updated Sonar scan in meters.

virtual bool getGPSMeasures (Position pos)

Gets the position given by the GPS.

virtual void setGoal (Pose g)

Sets the goal.

Pose getGoal ()

Gets the goal.

void setGoalVel (Position gv)

Sets the goal vel.

Position goalVel ()

Gets the goal vel.

bool getRangeSensActive ()

Gets the activity state of the specified periferal.

void setRangeSensActive (bool set)

Set if the range sensor is active or not.

bool getInfraredActive ()

Gets the activity state of the specified periferal.

bool getUnicycleActive ()

Gets the activity state of the specified periferal.

bool getSonarActive ()

Gets the activity state of the specified periferal.

bool getGpsActive ()

Gets the activity state of the specified periferal.

bool getRangeSensorType (ScanTypes &type)

virtual int totScans (int lastTakenScan)

Gets the total number of scans taken.

virtual void sendString (string s)

virtual void turnLaserOn ()

Protected Attributes

MobileRobOptions options

MobileRobPar * _par

MobileRobVar * _var

RangeSens * _rangeSens

Unicycle * _unicycle

RangeSens * _infrared

GroundSens * _groundInfrared

RangeSens * _sonar

PositionDetector * _gps

ScanTypes rangeSensorType

ScanTypes infraredType

bool rangeSensActive

bool infraredActive

bool unicycleActive

bool sonarActive

bool gpsActive

bool useOdometryLocalization

bool goalIsSet

Thread _motionThread

bool _motionThreadActive

bool _motionThreadPause

ofstream * outputFile

Detailed Description

Abstract mobile robot.

Author:: Antonio Franchi

Todo:: Virtual logging method, but logger is a task...

Constructor & Destructor Documentation

MipResources::MobileRob::MobileRob ( ) [inline]

Default constructor.

Note:: Not used.

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

Constructor with options.

Note:: This is the constructor called using the scheduler.

Member Function Documentation

virtual MobileRobPar* MipResources::MobileRob::robPar ( ) [inline, virtual]

Gets Robot parameters.

Returns:: Pointer to the robot parameters.

virtual MobileRobVar* MipResources::MobileRob::robVar ( ) [inline, virtual]

Gets Robot variables pointer.

Returns:: Pointer to the robot variables.

void MipResources::MobileRob::activateMotionThread ( )

Initializes the thread for the SND algorithm.

void MipResources::MobileRob::pauseMotionThread ( )

Pause the thread for the SND algorithm but does not close it.

void MipResources::MobileRob::unpauseMotionThread ( )

Unpause the thread for the SND algorithm.

bool MipResources::MobileRob::isPauseMotionThread ( )

Return if motionthread is paused or unpaused.

virtual RangeSensPar* MipResources::MobileRob::rangeSensPar ( ) [inline, virtual]

Gets the parameters of the range sensor.

Returns:: Pointer to the range sensor variables (NULL if range sensor is not present).

Reimplemented in MipResources::RemoteKhepera.

virtual RangeSensmmPar* MipResources::MobileRob::rangeSensmmPar ( ) [inline, virtual]

Gets the parameters of the range sensor in millimetres.

Returns:: Pointer to the range sensor variables (NULL if range sensor is not present).

bool MipResources::MobileRob::updatedScan ( Scan & s ) [virtual]

Gets an updated scan in metres.

Note:: This is a wrapper of RangeSens::updatedScan.

Returns:: True if all is ok (remeber that scan is a MutExed Resource), false otherwise.

Parameters:

s

A scan in metres in which the current scan is copied, if return is true.

Reimplemented in MipResources::RemoteKhepera, and MipResources::RemoteRob.

bool MipResources::MobileRob::updatedScan	(	Scan &	s,
		MotionModuleTState &	state
	)			`[virtual]`

Gets an updated scan and the state of the robot in that moment.

Note:: This is, in part, a wrapper of RangeSens::updatedScan.

Returns:: True if all is ok (remeber that scan is a MutExed Resource), false otherwise.

Parameters:

s

A scan in metres in which the current scan is copied, if return is true.

Todo:: Implement me searching the correct timestamp.

Reimplemented in MipResources::RemoteKhepera, and MipResources::RemoteRob.

bool MipResources::MobileRob::updatedState	(	MotionModuleTState &	state,
		Time &	timeStamp
	)			`[virtual]`

Gets an updated state of the robot in that moment.

Parameters:

`[in]`	&timeStamp	Time to be searched
`[out]`	&state	Output of the function. State associated with time

Reimplemented in MipResources::RemoteKhepera.

bool MipResources::MobileRob::updatedState ( MotionModuleTState & state ) [virtual]

Gets an updated state of the robot in that moment.

Parameters:

[out] &state Output of the function. State associated with time

Reimplemented in MipResources::RemoteKhepera.

bool MipResources::MobileRob::updatedLastState	(	MotionModuleTState &	state,
		Time &	timeStamp,
		const Decimal &	delta
	)			`[virtual]`

Gets the last state of the robot in that moment.

Parameters:

`[in]`	&timeStamp	Time to be searched
`[in]`	&delta	Delta threshold to assign that last odometry data might be associated with timeStamp
`[out]`	&state	Output of the function. State associated with time It searches the last TState stored and it check if it is close to the given timeStamp. A threshold delta is given in order to check the close constraint

Reimplemented in MipResources::RemoteKhepera.

bool MipResources::MobileRob::updatedLastState	(	MotionModuleTState &	state,
		const Decimal &	delta
	)			`[virtual]`

Gets the last state of the robot in that moment.

Parameters:

`[in]`	&delta	Delta threshold to assign that last odometry data might be associated with current time
`[out]`	&state	Output of the function. State associated with time It searches the last TState stored and it check if it is close to the given timeStamp. A threshold delta is given in order to check the close constraint

Reimplemented in MipResources::RemoteKhepera.

virtual void MipResources::MobileRob::startScan ( unsigned int num ) [inline, virtual]

Starts a continuous scan.

Note:: This is a wrapper of RangeSens::startScan or RangeSensmm::startScan.

Parameters:

num

Number of scans to perform, (0 means unbounded).

Reimplemented in MipResources::RemoteKhepera, and MipResources::RemoteRob.

virtual void MipResources::MobileRob::stopScan ( ) [inline, virtual]

Stops a continuous scan.

Note:: This is a wrapper of RangeSens::stopScan or RangeSensmm::stopScan.

Reimplemented in MipResources::RemoteKhepera, and MipResources::RemoteRob.

virtual bool MipResources::MobileRob::storedScan	(	Scan &	s,
		Time	timeout
	)			`[inline, virtual]`

Gets the stored scan.

Note:: Make sense only if startScan has been called before.
This is a wrapper of RangeSens::currentScan.

Parameters:

	s	A scan in which the current scan is copied.
	timeout	Timeout.

Reimplemented in MipResources::RemoteKhepera, and MipResources::RemoteRob.

virtual UnicyclePar* MipResources::MobileRob::unicyclePar ( ) [inline, virtual]

Gets the parameters of the unicycle.

Returns:: Pointer to the unycycle parameters.

Reimplemented in MipResources::RemoteKhepera, and MipResources::RemoteRob.

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

Sets the velocity of the unicycle.

Parameters:

	drive	Drive.
	turnrate	Trunrate.

Reimplemented in MipResources::RemoteKhepera, and MipResources::RemoteRob.

virtual void MipResources::MobileRob::getVel	(	Decimal &	linVel,
		Decimal &	angVel
	)			`[inline, virtual]`

Gets the velocity of the unicycle.

Parameters:

`[out]`	&linVel	Linear velocity.
`[out]`	&angVel	Angular velocity.

Note:: Deprecated. use getMotionState.

Reimplemented in MipResources::RemoteKhepera, and MipResources::RemoteRob.

virtual Pose MipResources::MobileRob::getPose ( void ) [inline, virtual]

Gets the pose of the unicycle.

Returns:: Pose.

Note:: Deprecated. use getMotionState.

Reimplemented in MipResources::RemoteKhepera, and MipResources::RemoteRob.

virtual MotionModuleTState MipResources::MobileRob::getMotionState ( ) [inline, virtual]

Gets the state of the unicycle (pose, velocities and timestamp).

Returns:: State.

Reimplemented in MipResources::RemoteKhepera, and MipResources::RemoteRob.

void MipResources::MobileRob::getCurvature	(	Decimal &	c,
		bool &	infinity
	)			`[inline]`

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

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.

virtual bool MipResources::MobileRob::setMotionState	(	MotionModuleState	state,
		bool	setPastTimeStamp = `false`,
		Time	pastTimeStamp = `Time()`
	)			`[inline, virtual]`

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 all.

Reimplemented in MipResources::RemoteKhepera, and MipResources::RemoteRob.

virtual void MipResources::MobileRob::setPose ( Pose p ) [inline, virtual]

Sets the current pose of the unicycle.

Parameters:

p

Current pose.

Todo:: Be sure that setState(p,0.0,0.0) make sense.

Note:: Deprecated. use setMotionState.

Reimplemented in MipResources::RemoteKhepera, and MipResources::RemoteRob.

virtual bool MipResources::MobileRob::updatedIRScan ( Scan & scan ) [inline, virtual]

Gets an updated range IR scan in meters.

Note:: This is a wrapper of RangeSens::updatedScan.

Returns:: True if all is ok (remeber that scan is a MutExed Resource), false otherwise.

Parameters:

s

A scan in meters in which the current scan is copied, if return is true.

virtual bool MipResources::MobileRob::updatedIRGroundScan ( vector< int > & s ) [inline, virtual]

Gets an updated ground IR scan.

Note:: This is a wrapper of GroundSens::updatedScan.

Returns:: True if all is ok (remeber that scan is a MutExed Resource), false otherwise.

Parameters:

s

A scan in which the current scan is copied, if return is true.

virtual bool MipResources::MobileRob::getSonarMeasures ( Scan & scan ) [inline, virtual]

Gets an updated Sonar scan in meters.

Note:: This is a wrapper of RangeSens::updatedScan.

Returns:: True if all is ok (remeber that scan is a MutExed Resource), false otherwise.

Parameters:

s

A scan in meters in which the current scan is copied, if return is true.

virtual bool MipResources::MobileRob::getGPSMeasures ( Position pos ) [inline, virtual]

Gets the position given by the GPS.

Returns:: True if the gps is active, false otherwise.

Parameters:

pos

Position.

virtual void MipResources::MobileRob::setGoal ( Pose g ) [inline, virtual]

Sets the goal.

Pose MipResources::MobileRob::getGoal ( ) [inline]

Gets the goal.

void MipResources::MobileRob::setGoalVel ( Position gv )

Sets the goal vel.

Position MipResources::MobileRob::goalVel ( )

Gets the goal vel.

bool MipResources::MobileRob::getRangeSensActive ( )