POSQ Class Reference

POSQ class that implements the POSQ steering function. More...

#include <POSQ.hpp>

Public Member Functions
	POSQ ()
void	setRes (const double *r) const
	Set the current result of the integration. More...
double	normAngle (double a, double mina) const
	Normalize the angle a rispect to the minimum angle mina. More...
double *	posControlStep (double x_c, double y_c, double t_c, double x_end, double y_end, double t_end, double ct, double b, int dir, int &eot) const
	Single step of the Steer Function. More...
std::vector< UnicycleState >	steer (const ob::State *from, const ob::State *to, double &distance) const
	Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. More...
double	distance (const ompl::base::State *state1, const ompl::base::State *state2)
	Compute the distance between two states. More...
UnicycleState	interpolate (const ompl::base::State *from, std::vector< UnicycleState > states, const double t)
	Return state at time t. More...

Public Attributes
double	B {.54}
	length of the wheels axis More...
double	DT {0.1}
	Integration Time Step More...
const int	MAX_SIZE = 10001
	Max Size of the Control (HacK: in this case equal to the dimension) More...
const double	END_CONTROLS = 2000
	Value used to mark the end of the vector, no used at the moment. More...
double *	result_
	Internal Results of the integration. More...
double *	intRes_
int *	ind_
	Internal Counter to access the current control to propagate. More...
double	Krho
double	Kalpha
double	Kbeta
double	Kv
double	Vmax
double	RhoEndCondition
ompl::base::StateSpacePtr	space_

Detailed Description

POSQ class that implements the POSQ steering function.

Constructor & Destructor Documentation

POSQ()

POSQ::POSQ ( )

inline

Read the paper and see how to set the proper gain values

double Kphi; Kphi = -1;

Read the paper and see how to set the proper gain values

double Kphi; Kphi = -1;

Member Function Documentation

distance()

double POSQ::distance ( const ompl::base::State *  state1, const ompl::base::State *  state2  )

inline

Compute the distance between two states.

interpolate()

UnicycleState POSQ::interpolate ( const ompl::base::State *  from, std::vector< UnicycleState >  states, const double  t  )

inline

Return state at time t.

normAngle()

double POSQ::normAngle ( double  a, double  mina  ) const

inline

Normalize the angle a rispect to the minimum angle mina.

Parameters

double	a
double	mina

posControlStep()

double * POSQ::posControlStep ( double  x_c, double  y_c, double  t_c, double  x_end, double  y_end, double  t_end, double  ct, double  b, int  dir, int &  eot  ) const

inline

Single step of the Steer Function.

Parameters

double	x_c, initial x-coord
double	y_c, initial y-coord
double	t_c, initial orientation
double	x_end, final x-coord.
double	y_end, final y-coord.
double	t_end, final orientation
double	c_t, integration time step
double	b, length of the wheel axis
double	dir, direction of the robot dir==1 forward

This function will generate a vector of double as output: [0] Vl velocity of the left wheel; [1] Vr velocity of the right wheel; [2] V translational Velocity; [3] W Angular Velocity. [4] EOT End Of Trajectory

setRes()

void POSQ::setRes ( const double *  r ) const

inline

Set the current result of the integration.

steer()

std::vector< UnicycleState > POSQ::steer ( const ob::State *  from, const ob::State *  to, double &  distance  ) const

inline

Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps.

Parameters

state	from Initial state of the steering
state	to Ending state of the steering
double	duration, number of control steps needed to steer the robot

Member Data Documentation

B

double POSQ::B {.54}

length of the wheels axis

DT

double POSQ::DT {0.1}

Integration Time Step

END_CONTROLS

const double POSQ::END_CONTROLS = 2000

Value used to mark the end of the vector, no used at the moment.

ind_

int* POSQ::ind_

Internal Counter to access the current control to propagate.

intRes_

double* POSQ::intRes_

Kalpha

double POSQ::Kalpha

Kbeta

double POSQ::Kbeta

Krho

double POSQ::Krho

Kv

double POSQ::Kv

MAX_SIZE

const int POSQ::MAX_SIZE = 10001

Max Size of the Control (HacK: in this case equal to the dimension)

result_

double* POSQ::result_

Internal Results of the integration.

RhoEndCondition

double POSQ::RhoEndCondition

space_

ompl::base::StateSpacePtr POSQ::space_

Vmax

double POSQ::Vmax

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

• src/steer_functions/POSQ/POSQ.hpp