Fawkes API
Fawkes Development Version
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24 #ifndef _PLUGINS_COLLI_SELECT_DRIVE_MODE_H_
25 #define _PLUGINS_COLLI_SELECT_DRIVE_MODE_H_
27 #include "../common/types.h"
33 class AbstractDriveMode;
35 class NavigatorInterface;
38 class LaserOccupancyGrid;
44 NavigatorInterface *colli_target,
57 void update(
bool escape =
false);
70 void set_laser_data(std::vector<fawkes::polar_coord_2d_t> &laser_points);
83 std::vector<AbstractDriveMode *> drive_modes_;
101 void load_drive_modes_differential();
102 void load_drive_modes_omnidirectional();
float get_proposed_trans_y()
Returns the proposed translation. After an update.
colli_drive_restriction_t
Colli drive restrictions.
void set_local_trajec(float x, float y)
Set local trajectory point before update!
~SelectDriveMode()
Desctructor.
void set_grid_information(LaserOccupancyGrid *occ_grid, int robo_x, int robo_y)
search for the escape drive mode and hands over the given information to the escape drive mode This s...
void set_laser_data(std::vector< fawkes::polar_coord_2d_t > &laser_points)
search for the escape drive mode and hands over the given information to the escape drive mode This s...
colli_escape_mode_t
Colli Escape modes.
Storing Translation and rotation.
void set_local_target(float x, float y)
Set local target point before update!
float get_proposed_trans_x()
Returns the proposed translation. After an update.
Cartesian coordinates (2D).
float get_proposed_rot()
Returns the proposed rotation. After an update.
SelectDriveMode(MotorInterface *motor, NavigatorInterface *colli_target, Logger *logger, Configuration *config, colli_escape_mode_t escape_mode=colli_escape_mode_t::basic)
Constructor.
void update(bool escape=false)
Has to be called before the proposed values are called.