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YARP
Yet Another Robot Platform
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YARP
Yet Another Robot Platform
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An interface to control the navigation of a mobile robot in a 2D environment. More...
#include <yarp/dev/INavigation2D.h>
Inheritance diagram for yarp::dev::Nav2D::INavigation2D:Public Member Functions | |
| virtual | ~INavigation2D () |
| Destructor. | |
| Public Member Functions inherited from yarp::dev::Nav2D::INavigation2DTargetActions | |
| virtual | ~INavigation2DTargetActions () |
| Destructor. | |
| virtual yarp::dev::ReturnValue | gotoTargetByAbsoluteLocation (yarp::dev::Nav2D::Map2DLocation loc)=0 |
| Ask the robot to reach a position defined in the world reference frame. | |
| virtual yarp::dev::ReturnValue | followPath (const yarp::dev::Nav2D::Map2DPath &path)=0 |
| Ask the robot to navigate through a set of locations defined in the world reference frame. | |
| virtual yarp::dev::ReturnValue | getAbsoluteLocationOfCurrentTarget (yarp::dev::Nav2D::Map2DLocation &loc)=0 |
| Gets the last navigation target in the world reference frame. | |
| virtual yarp::dev::ReturnValue | gotoTargetByRelativeLocation (double x, double y)=0 |
| Ask the robot to reach a position defined in the robot reference frame. | |
| virtual yarp::dev::ReturnValue | gotoTargetByRelativeLocation (double x, double y, double theta)=0 |
| Ask the robot to reach a position defined in the robot reference frame. | |
| virtual yarp::dev::ReturnValue | getRelativeLocationOfCurrentTarget (double &x, double &y, double &theta)=0 |
| Gets the last navigation target in the robot reference frame. | |
| Public Member Functions inherited from yarp::dev::Nav2D::INavigation2DControlActions | |
| virtual | ~INavigation2DControlActions () |
| Destructor. | |
| virtual yarp::dev::ReturnValue | getNavigationStatus (NavigationStatusEnum &status)=0 |
| Gets the current status of the navigation task. | |
| virtual yarp::dev::ReturnValue | stopNavigation ()=0 |
| Terminates the current navigation task. | |
| virtual yarp::dev::ReturnValue | suspendNavigation (const double time_s=std::numeric_limits< double >::infinity())=0 |
| Ask to the robot to suspend the current navigation task for a defined amount of time. | |
| virtual yarp::dev::ReturnValue | resumeNavigation ()=0 |
| Resume a previously suspended navigation task. | |
| virtual yarp::dev::ReturnValue | recomputeCurrentNavigationPath ()=0 |
| Forces the navigation system to recompute the path from the current robot position to the current goal. | |
| virtual yarp::dev::ReturnValue | getAllNavigationWaypoints (yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type, yarp::dev::Nav2D::Map2DPath &waypoints)=0 |
| Returns the list of waypoints generated by the navigation algorithm. | |
| virtual yarp::dev::ReturnValue | getCurrentNavigationWaypoint (yarp::dev::Nav2D::Map2DLocation &curr_waypoint)=0 |
| Returns the current waypoint pursued by the navigation algorithm. | |
| virtual yarp::dev::ReturnValue | getCurrentNavigationMap (yarp::dev::Nav2D::NavigationMapTypeEnum map_type, yarp::dev::Nav2D::MapGrid2D &map)=0 |
| Returns the current navigation map processed by the navigation algorithm. | |
| Public Member Functions inherited from yarp::dev::Nav2D::INavigation2DVelocityActions | |
| virtual | ~INavigation2DVelocityActions () |
| Destructor. | |
| virtual yarp::dev::ReturnValue | applyVelocityCommand (double x_vel, double y_vel, double theta_vel, double timeout=0.1)=0 |
| Apply a velocity command. | |
| virtual yarp::dev::ReturnValue | getLastVelocityCommand (double &x_vel, double &y_vel, double &theta_vel)=0 |
| Returns the last applied velocity command. | |
| Public Member Functions inherited from yarp::dev::Nav2D::INavigation2DExtraActions | |
| virtual yarp::dev::ReturnValue | gotoTargetByLocationName (std::string location_or_area_name)=0 |
| Ask the robot to reach a previously stored location/area. | |
| virtual yarp::dev::ReturnValue | checkInsideArea (std::string area_name, bool &is_inside)=0 |
| Check if the robot is currently inside the specified area. | |
| virtual yarp::dev::ReturnValue | checkInsideArea (Nav2D::Map2DArea area, bool &is_inside)=0 |
| Check if the robot is currently inside the specified area. | |
| virtual yarp::dev::ReturnValue | checkNearToLocation (Nav2D::Map2DLocation loc, bool &is_near, double linear_tolerance, double angular_tolerance=std::numeric_limits< double >::infinity())=0 |
| Check if the robot is currently near to the specified area. | |
| virtual yarp::dev::ReturnValue | checkNearToLocation (std::string location_name, bool &is_near, double linear_tolerance, double angular_tolerance=std::numeric_limits< double >::infinity())=0 |
| Check if the robot is currently near to the specified area. | |
| virtual yarp::dev::ReturnValue | getNameOfCurrentTarget (std::string &location_name)=0 |
| Gets the name of the current target, if available (set by gotoTargetByLocationName) | |
| virtual yarp::dev::ReturnValue | storeCurrentPosition (std::string location_name)=0 |
| Store the current location of the robot. | |
| virtual | ~INavigation2DExtraActions () |
| Destructor. | |
| Public Member Functions inherited from yarp::dev::Nav2D::IMap2D | |
| virtual | ~IMap2D () |
| Destructor. | |
| virtual yarp::dev::ReturnValue | clearAllMaps ()=0 |
| Removes all the registered maps from the server. | |
| virtual yarp::dev::ReturnValue | store_map (const yarp::dev::Nav2D::MapGrid2D &map)=0 |
| Stores a map into the map server. | |
| virtual yarp::dev::ReturnValue | get_map (std::string map_name, yarp::dev::Nav2D::MapGrid2D &map)=0 |
| Gets a map from the map server. | |
| virtual yarp::dev::ReturnValue | get_map_names (std::vector< std::string > &map_names)=0 |
| Gets a list containing the names of all registered maps. | |
| virtual yarp::dev::ReturnValue | remove_map (std::string map_name)=0 |
| Removes a map from the map server. | |
| virtual yarp::dev::ReturnValue | storeLocation (std::string location_name, yarp::dev::Nav2D::Map2DLocation loc)=0 |
| Store a location specified by the user in the world reference frame. | |
| virtual yarp::dev::ReturnValue | storeArea (std::string area_name, yarp::dev::Nav2D::Map2DArea area)=0 |
| Store an area. | |
| virtual yarp::dev::ReturnValue | storePath (std::string path_name, yarp::dev::Nav2D::Map2DPath path)=0 |
| Store a path. | |
| virtual yarp::dev::ReturnValue | getLocation (std::string location_name, yarp::dev::Nav2D::Map2DLocation &loc)=0 |
| Retrieves a location specified by the user in the world reference frame. | |
| virtual yarp::dev::ReturnValue | getArea (std::string area_name, yarp::dev::Nav2D::Map2DArea &area)=0 |
| Retrieves an area. | |
| virtual yarp::dev::ReturnValue | getPath (std::string path_name, yarp::dev::Nav2D::Map2DPath &path)=0 |
| Retrieves a path. | |
| virtual yarp::dev::ReturnValue | getLocationsList (std::vector< std::string > &locations)=0 |
| Get a list of the names of all stored locations. | |
| virtual yarp::dev::ReturnValue | getAreasList (std::vector< std::string > &areas)=0 |
| Get a list of the names of all stored areas. | |
| virtual yarp::dev::ReturnValue | getPathsList (std::vector< std::string > &paths)=0 |
| Get a list of the names of all stored paths. | |
| virtual yarp::dev::ReturnValue | getAllLocations (std::vector< yarp::dev::Nav2D::Map2DLocation > &locations)=0 |
| Get a list of all stored locations. | |
| virtual yarp::dev::ReturnValue | getAllAreas (std::vector< yarp::dev::Nav2D::Map2DArea > &areas)=0 |
| Get a list of all stored areas. | |
| virtual yarp::dev::ReturnValue | getAllPaths (std::vector< yarp::dev::Nav2D::Map2DPath > &paths)=0 |
| Get a list of all stored paths. | |
| virtual yarp::dev::ReturnValue | renameLocation (std::string original_name, std::string new_name)=0 |
| Searches for a location and renames it. | |
| virtual yarp::dev::ReturnValue | deleteLocation (std::string location_name)=0 |
| Delete a location. | |
| virtual yarp::dev::ReturnValue | deletePath (std::string path_name)=0 |
| Delete a path. | |
| virtual yarp::dev::ReturnValue | renameArea (std::string original_name, std::string new_name)=0 |
| Searches for an area and renames it. | |
| virtual yarp::dev::ReturnValue | renamePath (std::string original_name, std::string new_name)=0 |
| Searches for a path and renames it. | |
| virtual yarp::dev::ReturnValue | deleteArea (std::string area_name)=0 |
| Delete an area. | |
| virtual yarp::dev::ReturnValue | clearAllLocations ()=0 |
| Delete all stored locations. | |
| virtual yarp::dev::ReturnValue | clearAllAreas ()=0 |
| Delete all stored areas. | |
| virtual yarp::dev::ReturnValue | clearAllPaths ()=0 |
| Delete all stored paths. | |
| virtual yarp::dev::ReturnValue | clearAllMapsTemporaryFlags ()=0 |
| Clear all temporary flags from all stored maps. | |
| virtual yarp::dev::ReturnValue | clearMapTemporaryFlags (std::string map_name)=0 |
| Clear all temporary flags from a specific map. | |
| virtual yarp::dev::ReturnValue | saveMapToDisk (std::string map_name, std::string file_name)=0 |
| Save a map to disk. | |
| virtual yarp::dev::ReturnValue | loadMapFromDisk (std::string file_name)=0 |
| Load a map from disk. | |
| virtual yarp::dev::ReturnValue | saveMapsCollection (std::string file_name)=0 |
| Save a collection of maps to disk. | |
| virtual yarp::dev::ReturnValue | loadMapsCollection (std::string file_name)=0 |
| Load a collection of maps from disk. | |
| virtual yarp::dev::ReturnValue | saveLocationsAndExtras (std::string file_name)=0 |
| Save a collection of locations/area/paths etc to disk. | |
| virtual yarp::dev::ReturnValue | loadLocationsAndExtras (std::string file_name)=0 |
| Load a collection of locations/areas/paths etc from disk. | |
| virtual yarp::dev::ReturnValue | enableMapsCompression (bool enable)=0 |
| Enable/disables maps compression over the network. | |
| Public Member Functions inherited from yarp::dev::Nav2D::ILocalization2D | |
| 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. | |
An interface to control the navigation of a mobile robot in a 2D environment.
Definition at line 285 of file INavigation2D.h.
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inlinevirtual |
Destructor.
Definition at line 296 of file INavigation2D.h.
1.9.8 