YARP
Yet Another Robot Platform
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yarp::dev::Nav2D::ILocalization2D Class Referenceabstract
yarp::dev Yarp Devices » Device Interfaces » Navigation Interfaces

ILocalization2D interface. More...

#include <yarp/dev/ILocalization2D.h>

+ Inheritance diagram for yarp::dev::Nav2D::ILocalization2D:

Public Member Functions

virtual ~ILocalization2D ()
 Destructor. More...
 
virtual bool startLocalizationService ()=0
 Starts the localization service. More...
 
virtual bool stopLocalizationService ()=0
 Stops the localization service. More...
 
virtual bool getLocalizationStatus (LocalizationStatusEnum &status)=0
 Gets the current status of the localization task. More...
 
virtual bool getEstimatedPoses (std::vector< yarp::dev::Nav2D::Map2DLocation > &poses)=0
 Gets a set of pose estimates computed by the localization algorithm. More...
 
virtual bool getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc)=0
 Gets the current position of the robot w.r.t world reference frame. More...
 
virtual bool getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc, yarp::sig::Matrix &cov)=0
 Gets the current position of the robot w.r.t world reference frame, plus the covariance. More...
 
virtual bool getEstimatedOdometry (yarp::dev::OdometryData &odom)=0
 Gets the estimated odometry the robot, including its velocity expressed in the world and in the local reference frame. More...
 
virtual bool setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc)=0
 Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame. More...
 
virtual bool setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc, const yarp::sig::Matrix &cov)=0
 Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame. More...
 

Detailed Description

ILocalization2D interface.

Provides methods to obtain the pose of the robot in a known map.

Definition at line 39 of file ILocalization2D.h.

Constructor & Destructor Documentation

◆ ~ILocalization2D()

yarp::dev::ILocalization2D::~ILocalization2D ( )
inlinevirtualdefault

Destructor.

Definition at line 45 of file ILocalization2D.h.

Member Function Documentation

◆ getCurrentPosition() [1/2]

virtual bool yarp::dev::Nav2D::ILocalization2D::getCurrentPosition ( yarp::dev::Nav2D::Map2DLocation &  loc)
pure virtual

Gets the current position of the robot w.r.t world reference frame.

Parameters
locthe location of the robot
Returns
true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

◆ getCurrentPosition() [2/2]

virtual bool yarp::dev::Nav2D::ILocalization2D::getCurrentPosition ( yarp::dev::Nav2D::Map2DLocation &  loc,
yarp::sig::Matrix &  cov 
)
pure virtual

Gets the current position of the robot w.r.t world reference frame, plus the covariance.

Parameters
locthe location of the robot
covthe 3x3 covariance matrix
Returns
true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

◆ getEstimatedOdometry()

virtual bool yarp::dev::Nav2D::ILocalization2D::getEstimatedOdometry ( yarp::dev::OdometryData &  odom)
pure virtual

Gets the estimated odometry the robot, including its velocity expressed in the world and in the local reference frame.

Parameters
locthe estimated odometry.
Returns
true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

◆ getEstimatedPoses()

virtual bool yarp::dev::Nav2D::ILocalization2D::getEstimatedPoses ( std::vector< yarp::dev::Nav2D::Map2DLocation > &  poses)
pure virtual

Gets a set of pose estimates computed by the localization algorithm.

Returns
true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

◆ getLocalizationStatus()

virtual bool yarp::dev::Nav2D::ILocalization2D::getLocalizationStatus ( LocalizationStatusEnum &  status)
pure virtual

Gets the current status of the localization task.

Returns
true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

◆ setInitialPose() [1/2]

virtual bool yarp::dev::Nav2D::ILocalization2D::setInitialPose ( const yarp::dev::Nav2D::Map2DLocation &  loc)
pure virtual

Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.

Parameters
locthe location of the robot
Returns
true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

◆ setInitialPose() [2/2]

virtual bool yarp::dev::Nav2D::ILocalization2D::setInitialPose ( const yarp::dev::Nav2D::Map2DLocation &  loc,
const yarp::sig::Matrix &  cov 
)
pure virtual

Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.

Parameters
locthe location of the robot
covthe 3x3 covariance matrix
Returns
true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

◆ startLocalizationService()

virtual bool yarp::dev::Nav2D::ILocalization2D::startLocalizationService ( )
pure virtual

Starts the localization service.

Returns
true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

◆ stopLocalizationService()

virtual bool yarp::dev::Nav2D::ILocalization2D::stopLocalizationService ( )
pure virtual

Stops the localization service.

Returns
true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

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