Task for driving to a given position providing two limits for a hysteresis that can be applied when checking for goal reached. More...
#include <navigation/tasks/PositionTask.h>
Public Member Functions | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | PositionTask () |
| Creates a task with both tolerances 0. More... | |
| PositionTask (const Point2f &pos, float maxT, const std::string &f="/GlobalFrame") | |
| Creates a task with given position and one tolerance that is used for both min and max tolerance. More... | |
| PositionTask (const Point2f &pos, float minT, float maxT, const std::string &f="/GlobalFrame") | |
| Creates a task with given position and tolerances. More... | |
| template<typename Reflector > | |
| void | reflect (Reflector &r) |
| The reflect method. More... | |
| bool | reached (const Point2f &pos) const |
| Calculates if the task is reached for the current position pos. More... | |
| Class const & | getClass () const |
Static Public Member Functions | |
| static PseudoClass const & | CLASS () |
Public Attributes | |
| Point2f | position |
| The request position. More... | |
| float | minTolerance |
| The minimum tolerance/lower limit for path planner hysteresis. More... | |
| float | maxTolerance |
| The maximum tolerance/upper limit for path planner hysteresis. More... | |
| std::string | frameID |
| The frame the position is related to. More... | |
Protected Member Functions | |
| virtual Class const & | internalGetClass () const=0 |
Detailed Description
Task for driving to a given position providing two limits for a hysteresis that can be applied when checking for goal reached.
The minimum tolerance is the distance where the path planner stops driving nearer to the given position. The maximum tolerance is the maximum allowed distance to the given position. When this distance is exceeded the path planner starts again driving nearer to the position until the minimum distance is reached again....
Constructor & Destructor Documentation
◆ PositionTask() [1/3]
|
inline |
Creates a task with both tolerances 0.
◆ PositionTask() [2/3]
|
inline |
Creates a task with given position and one tolerance that is used for both min and max tolerance.
- Parameters
-
[in] pos The request position. [in] maxT The min and max tolerance in [m]. [in] f The frame ID.
◆ PositionTask() [3/3]
|
inline |
Creates a task with given position and tolerances.
- Parameters
-
[in] pos The request position. [in] minT The minimum tolerance in [m]. [in] maxT The maximum tolerance in [m]. [in] f The frame ID.
Member Function Documentation
◆ reflect()
|
inline |
The reflect method.
◆ reached()
|
inline |
Calculates if the task is reached for the current position pos.
Member Data Documentation
◆ position
| Point2f position |
The request position.
◆ minTolerance
| float minTolerance |
The minimum tolerance/lower limit for path planner hysteresis.
◆ maxTolerance
| float maxTolerance |
The maximum tolerance/upper limit for path planner hysteresis.
◆ frameID
| std::string frameID |
The frame the position is related to.
The documentation for this class was generated from the following file:
- include/navigation/tasks/PositionTask.h
