yarp::dev::Nav2D::INavigation2DTargetActions Class Reference

#include <yarp/dev/INavigation2D.h>

Inheritance diagram for yarp::dev::Nav2D::INavigation2DTargetActions:

Public Member Functions
virtual	~INavigation2DTargetActions ()
	Destructor. More...
virtual bool	gotoTargetByAbsoluteLocation (yarp::dev::Nav2D::Map2DLocation loc)=0
	Ask the robot to reach a position defined in the world reference frame. More...
virtual bool	getAbsoluteLocationOfCurrentTarget (yarp::dev::Nav2D::Map2DLocation &loc)=0
	Gets the last navigation target in the world reference frame. More...
virtual bool	gotoTargetByRelativeLocation (double x, double y)=0
	Ask the robot to reach a position defined in the robot reference frame. More...
virtual bool	gotoTargetByRelativeLocation (double x, double y, double theta)=0
	Ask the robot to reach a position defined in the robot reference frame. More...
virtual bool	getRelativeLocationOfCurrentTarget (double &x, double &y, double &theta)=0
	Gets the last navigation target in the robot reference frame. More...
virtual bool	applyVelocityCommand (double x_vel, double y_vel, double theta_vel, double timeout=0.1)=0
	Apply a velocity command. More...

Detailed Description

Definition at line 70 of file INavigation2D.h.

Constructor & Destructor Documentation

~INavigation2DTargetActions()

virtual yarp::dev::Nav2D::INavigation2DTargetActions::~INavigation2DTargetActions ( )

inlinevirtual

Destructor.

Definition at line 76 of file INavigation2D.h.

Member Function Documentation

applyVelocityCommand()

virtual bool yarp::dev::Nav2D::INavigation2DTargetActions::applyVelocityCommand ( double  x_vel, double  y_vel, double  theta_vel, double  timeout = 0.1  )

pure virtual

Apply a velocity command.

velocities are expressed in the robot reference frame

Parameters

x	[m/s]
y	[m/s]
theta	[deg/s]
timeout	The velocity command expires after the specified amount of time (by default 0.1 seconds)

Returns

true/false

Implemented in Navigation2DClient, and fakeNavigation.

getAbsoluteLocationOfCurrentTarget()

virtual bool yarp::dev::Nav2D::INavigation2DTargetActions::getAbsoluteLocationOfCurrentTarget ( yarp::dev::Nav2D::Map2DLocation &  loc )

pure virtual

Gets the last navigation target in the world reference frame.

Parameters

loc	the location of the robot

Returns

true/false

Implemented in fakeNavigation, and Navigation2DClient.

getRelativeLocationOfCurrentTarget()

virtual bool yarp::dev::Nav2D::INavigation2DTargetActions::getRelativeLocationOfCurrentTarget ( double &  x, double &  y, double &  theta  )

pure virtual

Gets the last navigation target in the robot reference frame.

Parameters

x
y
theta

Returns

true/false

Implemented in Navigation2DClient, and fakeNavigation.

gotoTargetByAbsoluteLocation()

virtual bool yarp::dev::Nav2D::INavigation2DTargetActions::gotoTargetByAbsoluteLocation ( yarp::dev::Nav2D::Map2DLocation  loc )

pure virtual

Ask the robot to reach a position defined in the world reference frame.

Parameters

loc	the location to be reached

Returns

true/false

Implemented in Navigation2DClient, and fakeNavigation.

gotoTargetByRelativeLocation() [1/2]

virtual bool yarp::dev::Nav2D::INavigation2DTargetActions::gotoTargetByRelativeLocation ( double  x, double  y  )

pure virtual

Ask the robot to reach a position defined in the robot reference frame.

The final orientation of the goal is unspecified.

Parameters

x
y

Returns

true/false

Implemented in Navigation2DClient, and fakeNavigation.

gotoTargetByRelativeLocation() [2/2]

virtual bool yarp::dev::Nav2D::INavigation2DTargetActions::gotoTargetByRelativeLocation ( double  x, double  y, double  theta  )

pure virtual

Ask the robot to reach a position defined in the robot reference frame.

Parameters

x
y
theta

Returns

true/false

Implemented in Navigation2DClient, and fakeNavigation.

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

• src/libYARP_dev/src/yarp/dev/INavigation2D.h