jafar::simu::Robot Class Reference

A simple simulated robot with one sensor. More...

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Detailed Description

A simple simulated robot with one sensor.

Definition at line 34 of file robot.hpp.

#include <robot.hpp>

Inheritance diagram for jafar::simu::Robot:

List of all members.

Public Types
typedef std::list < jafar::slam::Observation * >	SequenceObs
Public Member Functions
	Robot (jafar::slam::OdoNoiseModel const &odoNoiseModel_, SensorPoint *sensor_, bool doAddNoise=false, unsigned int randomSeed=1, double noiseFactor=1.0, unsigned int _robotId=0)
	Robot (jafar::slam::OdoNoiseModel const &odoNoiseModel_, SensorSegmentImage *sensor_, bool doAddNoise=false, unsigned int randomSeed=1, double noiseFactor=1.0, unsigned int _robotId=0)
	Robot (jafar::slam::OdoNoiseModel const &odoNoiseModel_, SensorPoint *sensor_, SensorSegmentImage *segmentSensor_, bool doAddNoise=false, unsigned int randomSeed=1, double noiseFactor=1.0, unsigned int _robotId=0)
void	setOdometryBias (jblas::vec const &bias_)
void	setPose (const jblas::vec &pose_)
jblas::vec const &	getRobotToSensor () const
void	setRobotToSensor (const jblas::vec &robotToSensor_)
void	moveOdo (double v, double w, double dt)
void	fillObservations (SequenceObs &seqObs)
void	getGpsPose (jafar::geom::T3DEuler &pose)
unsigned int const	getRobotId ()
	Get robotId.
void	setSensorRobot (SensorRobot *_sensorRobot)
	Set the sensor used to observe other robots.
SensorRobot *	getSensorRobot ()
	Get the sensor used to observe other robots.
void	setSegmentObservationsSelector (jafar::slam::SegmentObservationsSelector *_observationsSelector)
jafar::slam::SegmentObservationsSelector *	getSegmentObservationsSelector ()
Public Attributes
jafar::slam::OdoNoiseModel const &	odoNoiseModel
jblas::sym_mat	gpsNoise
jafar::geom::T3DEuler	pose
	The true position of the robot [x, y, z, yaw, pitch, roll].
jafar::geom::T3DEuler	odoPose
	The position of the robot obtained by odometry integration [x, y, z, yaw, pitch, roll].
jafar::geom::T3DEuler	robotToSensor
jblas::vec	u
	Last odometry read [v,w].
unsigned int	robotId
	Id of the robot in the slam.
Environment *	environment
Protected Member Functions
void	writeLogHeader (kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
void	writeLogData (kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
Protected Attributes
bool	p_doAddNoise
jafar::jmath::NormalDistribution	noise
	odometry noise
jblas::vec	bias
	odometry bias
SensorPoint *	sensorPt
	The sensor used by the robot.
SensorSegmentImage *	sensorSeg
SensorRobot *	sensorRobot
jafar::slam::SegmentObservationsSelector *	m_obsevationsSelector
Private Member Functions
void	initGpsNoise ()
Friends
std::ostream &	operator<< (std::ostream &s, const Robot &r_)

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Member Function Documentation

void jafar::simu::Robot::writeLogData

(

kernel::DataLogger &

log

)

const [protected, virtual]

Implements this method calling repeatidly log methods.

You should use writeData() or writeDataVector().

Implements jafar::kernel::DataLoggable.

void jafar::simu::Robot::writeLogHeader

(

kernel::DataLogger &

log

)

const [protected, virtual]

Implements this method calling repeatidly log methods.

You should use writeComment(), writeLegend() or writeLegendTokens().

Implements jafar::kernel::DataLoggable.

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

• modules/simu/include/simu/robot.hpp