Class SlotcarCommon

• Defined in File slotcar_common.hpp

Nested Relationships

Nested Types

• Struct SlotcarCommon::ChargerWaypoint

• Struct SlotcarCommon::PowerParams

• Struct SlotcarCommon::UpdateResult

Class Documentation

class rmf_robot_sim_common::SlotcarCommon

Public Functions

SlotcarCommon()

rclcpp::Logger logger() const

template<typename SdfPtrT>
void read_sdf(SdfPtrT &sdf)

void set_model_name(const std::string &model_name)

std::string model_name() const

void init_ros_node(const rclcpp::Node::SharedPtr node)

UpdateResult update(const Eigen::Isometry3d &pose, const std::vector<Eigen::Vector3d> &obstacle_positions, const double time)

bool emergency_stop(const std::vector<Eigen::Vector3d> &obstacle_positions, const Eigen::Vector3d &current_heading)

std::array<double, 2> calculate_control_signals(const std::array<double, 2> &curr_velocities, const std::pair<double, double> &displacements, const double dt, const double target_linear_velocity = 0.0) const

std::array<double, 2> calculate_joint_control_signals(const std::array<double, 2> &w_tire, const std::pair<double, double> &displacements, const double dt) const

void charge_state_cb(const std::string &name, bool selected)

void publish_robot_state(const double time)

struct UpdateResult

Public Members

double v = 0.0

double w = 0.0

double speed = 0.0