#include <umaprobot.h>

Public Member Functions
void	clear ()

void	copy (UMapRobot *source)

double	getDeltaHeading ()

double	getDistanceSD ()

double	getdL ()

double	getdR ()

double	getdx ()

double	getdy ()

double	getHeading ()

double	getHeadingSD ()

const unsigned long	getID ()

double	getMovedDistance ()

bool	getOdoReset ()

UPose	getPose ()

UMatrix4	getQ (double dist)

UTime	getT ()

double	getToNewHeading ()

double	getTurnRadius ()

double	getWheelBase ()

double	getzTheta ()

UTime	getzTime ()

double	getzX ()

double	getzY ()

bool	isHeadingSDfromWheelBase ()

bool	load (Uxml3D fxmap, char name=NULL)

UMapRobot	operator= (UMapRobot source)

bool	save (Uxml3D fxmap, const char name=NULL)

void	setErrorValuesB (float distSD, float B)

void	setID (const unsigned long ID)

void	setOdo (double x, double y)

void	setOdo (double x, double y, double theta)

bool	setOdoPosition (float x, float y, float theta, UTime t, bool testReset, bool doReset)

void	setOdoReset (bool value)

void	setWheelBase (double B)

	UMapRobot ()

	~UMapRobot ()

Private Attributes
unsigned long	code

double	distanceSD

double	dL

double	dR

double	dTheta

double	dx

double	dy

double	headingSD

bool	headingSDfromWheelBase

bool	odoReset

double	toNewXY

double	turnRadius

double	wheelBase

UTime	zT

double	zTheta

double	zX

double	zY

Detailed Description

Robot (measurement) iformation. Stores robot specific information in addition to the more generic map information in the map object.

Constructor & Destructor Documentation

UMapRobot::UMapRobot ( )

Constructor

UMapRobot::~UMapRobot ( )

Destructor

Member Function Documentation

void UMapRobot::clear ( )

Clear measurement and including ID and size

void UMapRobot::copy ( UMapRobot * source )

Make this object a copy og source object

double UMapRobot::getDeltaHeading ( )

Get heading change. Returned value is within +/- PI Get heading change to this new heading. Returned value is within +/- PI

Referenced by isHeadingSDfromWheelBase().

double UMapRobot::getDistanceSD ( )

inline

Get distance SD

References distanceSD.

double UMapRobot::getdL ( )

inline

Get movement of left wheel since last update

References dL.

double UMapRobot::getdR ( )

inline

Get movement of right wheel since last update

References dR.

double UMapRobot::getdx ( )

inline

Get last movement in local map coordinates

References dx.

double UMapRobot::getdy ( )

inline

Get last movement in local map coordinates

References dy.

double UMapRobot::getHeading ( )

inline

Get measured heading (from odometer calculation)

References getPose(), and zTheta.

double UMapRobot::getHeadingSD ( )

inline

Get heading SD

References headingSD.

const unsigned long UMapRobot::getID ( )

inline

Get ID

References code, setErrorValuesB(), and setOdoPosition().

double UMapRobot::getMovedDistance ( )

Get moved distance from this new odometer x,y position

Referenced by isHeadingSDfromWheelBase().

bool UMapRobot::getOdoReset ( )

inline

Get odometer reset flag. This flag indicates hat odometer based position is reset (has new reference)

References odoReset.

UPose UMapRobot::getPose ( )

Get measured pose

Referenced by getHeading().

UMatrix4 UMapRobot::getQ ( double dist )

Get covariance matrix for this moved distance. The matrix is a 2x2 of the form [Vd, 0; 0, Vtheta].

Referenced by isHeadingSDfromWheelBase().

UTime UMapRobot::getT ( )

inline

Get update time

References zT.

double UMapRobot::getToNewHeading ( )

inline

Get heading to new position relative to old heading

References toNewXY.

double UMapRobot::getTurnRadius ( )

inline

Get last calculated turn radius (from last odometer update)

References turnRadius.

double UMapRobot::getWheelBase ( )

inline

Set wheel base (distance between odometer wheels

References setOdo(), and wheelBase.

double UMapRobot::getzTheta ( )

inline

Get last Theta (heading) in robot odometer coordinates

References zTheta.

UTime UMapRobot::getzTime ( )

inline

Get last odometer update time

References load(), save(), and zT.

double UMapRobot::getzX ( )

inline

Get last x-position in robot odometer coordinates

References zX.

double UMapRobot::getzY ( )

inline

Get last y-position in robot odometer coordinates

References zY.

bool UMapRobot::isHeadingSDfromWheelBase ( )

inline

Is heading SD calculated from wheel-base, i.e. is stearing done by controlling left and right drive wheel.

References dist, getDeltaHeading(), getMovedDistance(), getQ(), headingSDfromWheelBase, and operator=().

bool UMapRobot::load	(	Uxml3D *	fxmap,
		char *	name = `NULL`
	)

Load robot odometry information from a xml-class object. Returns true if read.

Referenced by getzTime().

UMapRobot UMapRobot::operator= ( UMapRobot source )

Assign new values from measurement

Referenced by isHeadingSDfromWheelBase().

bool UMapRobot::save	(	Uxml3D *	fxmap,
		const char *	name = `NULL`
	)

SAve robot info in html-like format. Returns true if saved.

Referenced by getzTime().

void UMapRobot::setErrorValuesB	(	float	distSD,
		float	B
	)

Set position measurement error parameters Set position measurement error parameters from known distance SD (meter per moved meter) and wheel base B (meter)

Referenced by getID().

void UMapRobot::setID ( const unsigned long ID )

Set Guidemark code. Code -1 is invalid

void UMapRobot::setOdo	(	double	x,
		double	y
	)

Set known odometer position of (last) update. The theta is not set (left as is).

Referenced by getWheelBase().

void UMapRobot::setOdo	(	double	x,
		double	y,
		double	theta
	)

Set known odometer position of (last) update.

bool UMapRobot::setOdoPosition	(	float	x,
		float	y,
		float	theta,
		UTime	t,
		bool	testReset,
		bool	doReset
	)

Set measurement position. if optional parameter 'reset' is true, then this is the first measurement, so no compare with previous measurement is meaningful. Returns false if no valid previous odometer position is valid, i.e. odometer position is reset to provided position.

Referenced by getID().

void UMapRobot::setOdoReset ( bool value )

inline

Set odometer reset flag

References odoReset, and setWheelBase().

void UMapRobot::setWheelBase ( double B )

Set wheel base (distance between odometer wheels

Referenced by setOdoReset().

Member Data Documentation

unsigned long UMapRobot::code

private

Robot (unique) ID

Referenced by getID().

double UMapRobot::distanceSD

private

measurement distance SD for one meter traveled distance

Referenced by getDistanceSD().

double UMapRobot::dL

private

Last moved distance for each wheel

Referenced by getdL().

double UMapRobot::dR

private

Referenced by getdR().

double UMapRobot::dTheta

private

Heading change since last update

double UMapRobot::dx

private

Last moved distance

Referenced by getdx().

double UMapRobot::dy

private

Referenced by getdy().

double UMapRobot::headingSD

private

measurement heading SD for one meter distance travelled

Referenced by getHeadingSD().

bool UMapRobot::headingSDfromWheelBase

private

Heading SD is set from wheel base. If false, then heading SD is set directly independent of wheelbase.

Referenced by isHeadingSDfromWheelBase().

bool UMapRobot::odoReset

private

Is odometer position reset. this means that this position can not be compared with the previous, and that no real update can be performed with this data.

Referenced by getOdoReset(), and setOdoReset().

double UMapRobot::toNewXY

private

angle from old heading to new x,y position

Referenced by getToNewHeading().

double UMapRobot::turnRadius

private

Turn radius (1e5-1 if straight)

Referenced by getTurnRadius().

double UMapRobot::wheelBase

private

Wheel separation