RobotModel Class Reference

Base class for all robot models, such as DifferentialRobotModel. More...

#include <robot/RobotModel.h>

Inheritance diagram for RobotModel:

Public Types
typedef std::list< LinkPtr >	LinkList
typedef std::map< std::string, JointPtr >	JointMap
typedef std::map< std::string, MaterialPtr >	MaterialMap
typedef std::list< std::pair< GeometryPtr, RigidTransform3f >, Eigen::aligned_allocator< std::pair< GeometryPtr, RigidTransform3f > > >	CollisionGeometries

Public Member Functions
virtual Pose2	localKinematics (const Velocity2 &v, float dt) const =0
	Computes the local movement of the robot if it moves with the specified velocity v for the specified time dt. More...
Pose2	globalKinematics (const Velocity2 &v, float dt, const Pose2 &p0) const
	Computes the movement of the robot if it moves with the specified velocity v for the specified time dt. More...
virtual float	predictStandstillDistance (const Velocity2 &v) const =0
	Calculate the distance that is needed for braking to stand still, if the robot moves with the specified velocity v. More...
virtual float	predictStandstillRotation (const Velocity2 &v) const =0
	Calculate the rotation that is needed for braking to stand still, if the robot moves with the specified velocity v. More...
virtual PoseVelocityTrajectory	generateTrajectory (Velocity2 v, const Velocity2 &targetV, float lookAheadTime, int samples)=0
	Generates a trajectory by accelerating/decelerating starting at velocity v for lookAheadTime time up to the velocity targetV. More...
void	reflect (Reflector &r)
void	reflect (XMLDeserializer &r)
void	clear ()
std::string	getRootLink () const
CollisionGeometries	getCollisionGeometries (std::string targetFrame="", const Time &timestamp=Time::now(), const std::string &filter="") const
std::list< Box3f >	getCollisionBoundingBoxes (std::string targetFrame="", const Time &timestamp=Time::now(), const std::string &filter="") const
Footprint	getFootprint (std::string targetFrame="", const Time &timestamp=Time::now(), const std::string &filter="") const
void	resolveAndPublishLinks (const std::string &ns, const Time &timestamp=Time::now())
void	publishJoint (const std::string &name, float value, const Time &timestamp=Time::now()) const
Class const &	getClass () const

Static Public Member Functions
static PseudoClass const &	CLASS ()

Public Attributes
std::string	name
LinkList	links
JointMap	joints
MaterialMap	materials

Protected Member Functions
virtual Class const &	internalGetClass () const=0

Detailed Description

Base class for all robot models, such as DifferentialRobotModel.

Each robot model is a RigidModel that provides geometric information for collision checks and visualization. Moreover, most robot models additionally provide kinematic information like max. velocities, etc.

Member Function Documentation

localKinematics()

virtual Pose2 localKinematics ( const Velocity2 &  v, float  dt  ) const

pure virtual

Computes the local movement of the robot if it moves with the specified velocity v for the specified time dt.

The movement is returned as relative pose in relation to the robots movement center, which is assumed to be (0,0,0).

Parameters

[in]	v	The measured velocity.
[in]	dt	The time interval in [s]. It must be >= 0.0f.

Returns

The delta pose.

Implemented in DifferentialRobotModel, and GenericRobotModel.

globalKinematics()

Pose2 globalKinematics ( const Velocity2 &  v, float  dt, const Pose2 &  p0  ) const

inline

Computes the movement of the robot if it moves with the specified velocity v for the specified time dt.

The movement is returned as pose in relation to the specified pose p0.

Parameters

[in]	v	The velocity of the robot.
[in]	dt	The delta time.
[in]	p0	The original pose.

Returns

The movement as a pose in relative to pose p0.

predictStandstillDistance()

virtual float predictStandstillDistance ( const Velocity2 &  v ) const

pure virtual

Calculate the distance that is needed for braking to stand still, if the robot moves with the specified velocity v.

Parameters

[in]

v

The current velocity.

Returns

The estimated stopping distance.

Implemented in DifferentialRobotModel, and GenericRobotModel.

predictStandstillRotation()

virtual float predictStandstillRotation ( const Velocity2 &  v ) const

pure virtual

Calculate the rotation that is needed for braking to stand still, if the robot moves with the specified velocity v.

Parameters

[in]

v

The current velocity.

Returns

The estimated stopping rotation.

Implemented in DifferentialRobotModel, and GenericRobotModel.

generateTrajectory()

virtual PoseVelocityTrajectory generateTrajectory ( Velocity2  v, const Velocity2 &  targetV, float  lookAheadTime, int  samples  )

pure virtual

Generates a trajectory by accelerating/decelerating starting at velocity v for lookAheadTime time up to the velocity targetV.

The resulting trajectory will contain samples+1 trajectory samples starting at position 0,0 with velocity v. It uses the acceleration limits defined by the robot model.

Implemented in UnicycleBasedRobotModel, and GenericRobotModel.

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

• include/robot/RobotModel.h