yarp::dev::Nav2D::ILocalization2D Class Reference

ILocalization2D interface. More...

#include <yarp/dev/ILocalization2D.h>

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

Public Member Functions
virtual	~ILocalization2D ()
	Destructor.
virtual yarp::dev::ReturnValue	startLocalizationService ()=0
	Starts the localization service.
virtual yarp::dev::ReturnValue	stopLocalizationService ()=0
	Stops the localization service.
virtual yarp::dev::ReturnValue	getLocalizationStatus (LocalizationStatusEnum &status)=0
	Gets the current status of the localization task.
virtual yarp::dev::ReturnValue	getEstimatedPoses (std::vector< yarp::dev::Nav2D::Map2DLocation > &poses)=0
	Gets a set of pose estimates computed by the localization algorithm.
virtual yarp::dev::ReturnValue	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc)=0
	Gets the current position of the robot w.r.t world reference frame.
virtual yarp::dev::ReturnValue	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.
virtual yarp::dev::ReturnValue	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.
virtual yarp::dev::ReturnValue	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.
virtual yarp::dev::ReturnValue	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.

Detailed Description

ILocalization2D interface.

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

Definition at line 33 of file ILocalization2D.h.

Constructor & Destructor Documentation

~ILocalization2D()

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

inlinevirtualdefault

Destructor.

Definition at line 39 of file ILocalization2D.h.

Member Function Documentation

getCurrentPosition() [1/2]

virtual yarp::dev::ReturnValue 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

loc	the location of the robot

Returns

a ReturnValue, convertible to true/false

Implemented in FakeLocalizer, Localization2D_nwc_yarp, and Navigation2D_nwc_yarp.

getCurrentPosition() [2/2]

virtual yarp::dev::ReturnValue 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

loc	the location of the robot
cov	the 3x3 covariance matrix

Returns

a ReturnValue, convertible to true/false

Implemented in FakeLocalizer, Localization2D_nwc_yarp, and Navigation2D_nwc_yarp.

getEstimatedOdometry()

virtual yarp::dev::ReturnValue 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

loc	the estimated odometry.

Returns

a ReturnValue, convertible to true/false

Implemented in FakeLocalizer, Localization2D_nwc_yarp, and Navigation2D_nwc_yarp.

getEstimatedPoses()

virtual yarp::dev::ReturnValue 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

a ReturnValue, convertible to true/false

Implemented in FakeLocalizer, Localization2D_nwc_yarp, and Navigation2D_nwc_yarp.

getLocalizationStatus()

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

pure virtual

Gets the current status of the localization task.

Returns

a ReturnValue, convertible to true/false

Implemented in FakeLocalizer, Localization2D_nwc_yarp, and Navigation2D_nwc_yarp.

setInitialPose() [1/2]

virtual yarp::dev::ReturnValue 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

loc	the location of the robot

Returns

a ReturnValue, convertible to true/false

Implemented in FakeLocalizer, Localization2D_nwc_yarp, and Navigation2D_nwc_yarp.

setInitialPose() [2/2]

virtual yarp::dev::ReturnValue 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

loc	the location of the robot
cov	the 3x3 covariance matrix

Returns

a ReturnValue, convertible to true/false

Implemented in FakeLocalizer, Localization2D_nwc_yarp, and Navigation2D_nwc_yarp.

startLocalizationService()

virtual yarp::dev::ReturnValue yarp::dev::Nav2D::ILocalization2D::startLocalizationService ( )

pure virtual

Starts the localization service.

Returns

a ReturnValue, convertible to true/false

Implemented in FakeLocalizer, Localization2D_nwc_yarp, and Navigation2D_nwc_yarp.

stopLocalizationService()

virtual yarp::dev::ReturnValue yarp::dev::Nav2D::ILocalization2D::stopLocalizationService ( )

pure virtual

Stops the localization service.

Returns

a ReturnValue, convertible to true/false

Implemented in FakeLocalizer, Localization2D_nwc_yarp, and Navigation2D_nwc_yarp.

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

• src/libYARP_dev/src/yarp/dev/ILocalization2D.h
• src/libYARP_dev/src/yarp/dev/ILocalization2D.cpp