RobotModel Class Reference

Class for handling the robot model. More...

#include <robot_model.h>

Public Member Functions
	RobotModel (Parameters const &params, Point2 const &global_start_position, std::shared_ptr< const WorldIDF > const &world_idf)
	Constructor for the robot model.
	RobotModel (Parameters const &params, Point2 const &global_start_position, WorldIDF const &world_idf)
void	ClearRobotMap ()
int	StepControl (Point2 const &direction, double const &speed)
void	SetRobotPosition (Point2 const &pos)
	Set robot position relative to the current position.
void	SetGlobalRobotPosition (Point2 const &pos)
Point2	GetGlobalStartPosition () const
Point2	GetGlobalCurrentPosition () const
const MapType &	GetRobotMap () const
const MapType &	GetSensorView () const
const MapType &	GetRobotSystemMap ()
void	ComputeLocalMap ()
MapType &	GetRobotMapMutable ()
const MapType &	GetRobotLocalMap ()
const MapType &	GetExplorationMap ()
const MapType &	GetObstacleMap ()
auto	GetExplorationFeatures ()
auto	GetVoronoiFeatures ()

Detailed Description

Class for handling the robot model.

The robot model is used to simulate the robot's movement and sensor data.

Definition at line 61 of file robot_model.h.

Constructor & Destructor Documentation

RobotModel() [1/2]

RobotModel ( Parameters const & params, Point2 const & global_start_position, std::shared_ptr< const WorldIDF > const & world_idf )

inline

Constructor for the robot model.

Parameters

params	Parameters for the robot model
global_start_position	The global start position of the robot
world_idf	The world IDF object

Definition at line 164 of file robot_model.h.

RobotModel() [2/2]

RobotModel ( Parameters const & params, Point2 const & global_start_position, WorldIDF const & world_idf )

inline

Definition at line 172 of file robot_model.h.

Member Function Documentation

ClearRobotMap()

void ClearRobotMap ( )

inline

Definition at line 180 of file robot_model.h.

ComputeLocalMap()

void ComputeLocalMap ( )

inline

Definition at line 303 of file robot_model.h.

GetExplorationFeatures()

auto GetExplorationFeatures ( )

inline

Definition at line 347 of file robot_model.h.

GetExplorationMap()

const MapType & GetExplorationMap ( )

inline

Definition at line 321 of file robot_model.h.

GetGlobalCurrentPosition()

Point2 GetGlobalCurrentPosition ( ) const

inline

Definition at line 288 of file robot_model.h.

GetGlobalStartPosition()

Point2 GetGlobalStartPosition ( ) const

inline

Definition at line 287 of file robot_model.h.

GetObstacleMap()

const MapType & GetObstacleMap ( )

inline

Definition at line 336 of file robot_model.h.

GetRobotLocalMap()

const MapType & GetRobotLocalMap ( )

inline

Definition at line 316 of file robot_model.h.

GetRobotMap()

const MapType & GetRobotMap ( ) const

inline

Definition at line 290 of file robot_model.h.

GetRobotMapMutable()

MapType & GetRobotMapMutable ( )

inline

Definition at line 314 of file robot_model.h.

GetRobotSystemMap()

const MapType & GetRobotSystemMap ( )

inline

Definition at line 293 of file robot_model.h.

GetSensorView()

const MapType & GetSensorView ( ) const

inline

Definition at line 291 of file robot_model.h.

GetVoronoiFeatures()

auto GetVoronoiFeatures ( )

inline

Definition at line 408 of file robot_model.h.

SetGlobalRobotPosition()

void SetGlobalRobotPosition ( Point2 const & pos )

inline

Definition at line 258 of file robot_model.h.

SetRobotPosition()

void SetRobotPosition ( Point2 const & pos )

inline

Set robot position relative to the current position.

Definition at line 229 of file robot_model.h.

StepControl()

int StepControl ( Point2 const & direction, double const & speed )

inline

Note

Time step robot with the given control direction and speed.

Direction cannot be zero-vector is speed is not zero.

Speed needs to be positive

Definition at line 200 of file robot_model.h.