Classes
class	BatteryState
	A class for holding the current battery state. More...

class	DifferentialProbabilisticMotionModel
	Probabilistic motion model for a robot with differential drive. More...

class	DifferentialRobotModel
	A robot model for robot with a differential drive (2 wheels on an axis, fixed orientation). More...

class	DriveView
	A view plugin for steering a robot using arrow keys or button clicks. More...

class	GenericRobotModel
	A generic robot model that allows to specify a wheel geometry for multi wheel robots with fixed or non-fixed castor wheels. More...

class	IDrive
	An interface class for objects, which provide a "drive" capability. More...

class	IgnoreInterval
	Specifies an interval of start and end angle that will be ignored in a range scan. More...

class	IMotorController
	An interface class for objects, which provide a motor controller. More...

class	IPTU
	An interface class for objects with a PTU. More...

class	IRobotModelProvider
	Interface for robot model provider services. More...

class	Odometry
	Odometry class. More...

class	OdometryCorrectionDifferentialDrive
	Allows the correction of systematical odometry errors of differential drives. More...

class	PoseTrajectory
	A sampled trajectory, a collection of trajectory samples, each containing a pose at a certain time. More...

class	PoseTrajectorySample
	A single sample of a sampled trajectory, containing a pose and the time. More...

class	PoseVelocityTrajectorySample
	A single sample of a sampled trajectory, containing a pose, velocity and a delta time. More...

class	ProbabilisticMotionModel
	Base class for probabilistic motion models. More...

class	RangeScan
	This class represents 2D range scans e.g. More...

class	RangeScanInfo
	This class stores information about the configuration and geometry of 2D range scans e.g. More...

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

class	RobotModelProvider
	Provides a service method to obtain the enclosed robot model. More...

class	UnicycleBasedRobotModel

class	Wrench2
	Wrench class. More...

class	Wrench3

Typedefs
typedef boost::shared_ptr< DifferentialRobotModel >	DifferentialRobotModelPtr
	Typedef for DifferentialRobotModel pointer. More...

typedef boost::shared_ptr< GenericRobotModel >	GenericRobotModelPtr
	Typedef for GenericRobotModel pointer. More...

typedef Odometry< 2 >	Odometry2
	2D Odometry More...

typedef Odometry< 3 >	Odometry3
	3D Odometry More...

typedef boost::shared_ptr< ProbabilisticMotionModel >	ProbabilisticMotionModelPtr

typedef boost::shared_ptr< RobotModel >	RobotModelPtr
	A typedef for a shared pointer to a RobotModel. More...

typedef std::vector< PoseVelocityTrajectorySample, Eigen::aligned_allocator< PoseVelocityTrajectorySample > >	PoseVelocityTrajectory
	A sampled trajectory, a collection of trajectory samples, each containing a pose and velocity at a delta time. More...

typedef PoseTrajectory< 2 >	PoseTrajectory2

typedef PoseTrajectory< 3 >	PoseTrajectory3

typedef boost::shared_ptr< UnicycleBasedRobotModel >	UnicycleBasedRobotModelPtr
	Typedef for UnicycleBasedRobotModel pointer. More...

typedef Wrench2< float >	Wrench2f
	2D Wrench More...

typedef Wrench2< double >	Wrench2d

typedef Wrench3< float >	Wrench3f
	3D Wrench More...

typedef Wrench3< double >	Wrench3d

Functions
Transformation operators
Depending on wether you want to observe a closed system from an external frame or you want to compute the forces resulting from a moment at another frame, you need to add r x M to the force vector before rotating into the target frame.
template<typename ScalarType >
Wrench3< ScalarType >	operator* (const Pose3 &trans, const Wrench3< ScalarType > &w)
	The * operator simply rotates the vectors of force and torque into another frame. More...

template<typename ScalarType >
Wrench3< ScalarType >	operator^ (const Pose3 &trans, const Wrench3< ScalarType > &w)
	The ^ operator applies the translation vector of the transform with the given force and computes the resulting moment in the new frame, before it transforms the orientation into the new frame. More...

Typedef Documentation

◆ DifferentialRobotModelPtr

typedef boost::shared_ptr<DifferentialRobotModel> DifferentialRobotModelPtr

Typedef for DifferentialRobotModel pointer.

◆ GenericRobotModelPtr

typedef boost::shared_ptr<GenericRobotModel> GenericRobotModelPtr

Typedef for GenericRobotModel pointer.

◆ Odometry2

typedef Odometry<2> Odometry2

2D Odometry

◆ Odometry3

typedef Odometry<3> Odometry3

3D Odometry

◆ ProbabilisticMotionModelPtr

typedef boost::shared_ptr<ProbabilisticMotionModel> ProbabilisticMotionModelPtr

◆ RobotModelPtr

typedef boost::shared_ptr<RobotModel> RobotModelPtr

A typedef for a shared pointer to a RobotModel.

◆ PoseVelocityTrajectory

typedef std::vector<PoseVelocityTrajectorySample, Eigen::aligned_allocator<PoseVelocityTrajectorySample> > PoseVelocityTrajectory

A sampled trajectory, a collection of trajectory samples, each containing a pose and velocity at a delta time.

◆ PoseTrajectory2

typedef PoseTrajectory<2> PoseTrajectory2

◆ PoseTrajectory3

typedef PoseTrajectory<3> PoseTrajectory3

◆ UnicycleBasedRobotModelPtr

typedef boost::shared_ptr<UnicycleBasedRobotModel> UnicycleBasedRobotModelPtr

Typedef for UnicycleBasedRobotModel pointer.

◆ Wrench2f

typedef Wrench2<float> Wrench2f

2D Wrench

◆ Wrench2d

typedef Wrench2<double> Wrench2d

◆ Wrench3f

typedef Wrench3<float> Wrench3f

3D Wrench

◆ Wrench3d

typedef Wrench3<double> Wrench3d

Function Documentation

◆ operator*()

Wrench3<ScalarType> mira::robot::operator*	(	const Pose3 &	trans,
		const Wrench3< ScalarType > &	w
	)

The * operator simply rotates the vectors of force and torque into another frame.

◆ operator^()

Wrench3<ScalarType> mira::robot::operator^	(	const Pose3 &	trans,
		const Wrench3< ScalarType > &	w
	)

The ^ operator applies the translation vector of the transform with the given force and computes the resulting moment in the new frame, before it transforms the orientation into the new frame.

Classes

Typedefs

Functions