ArBaseLocalizationTask Class Reference

#include <ArBaseLocalizationTask.h>

Inheritance diagram for ArBaseLocalizationTask:

List of all members.

---

Detailed Description

This class has the similar items of ArLocalizationTask and ArSonarLocalizationTask, right now thats just one enum, later it may grow to become more.

Public Types
enum	LocalizationState { ,   LOCALIZATION_FAILED, LOCALIZATION_SUCCESS, LOCALIZATION_INIT_COMPUTING, LOCALIZATION_MOVE_COMPUTING,   LOCALIZATION_IDLE, INVALID }
	State of the path plan, accessible using getState(). More...
Public Member Functions
virtual bool	findLocalizationMeanVar (ArPose &mean, ArMatrix &var)
	Function returns what the current mean pose and its variance.
virtual void	setCorrectRobotFlag (bool f)
	Used to switch off moveTo inside the child localization tasks.
virtual void	setRobotPose (ArPose pose, ArPose spread=ArPose(-1.,-1.,-1.), int nSam=-1)
	Used to set the robot pose usually at the start of localization.
virtual bool	getRobotIsLostFlag ()
	Finds if the robot is lost.
virtual ArPose	getRobotHome ()
	Gets the robot home pose This pose is the initial best localized position determined by localizeRobotAtHomeBlocking() or localizeRobotAtHomeNonBlocking() methods.
ArRetFunctor< ArPose > *	getRobotHomeCallback ()
	Get a functor that when called returns the robot's home pose This pose is the initial best localized position determined by localizeRobotAtHomeBlocking() or localizeRobotAtHomeNonBlocking() methods.
ArPose	getHomePose ()
virtual bool	localizeRobotAtHomeBlocking (double distSpread, double angleSpread)
	Localize robot at start or while initialization.
virtual bool	localizeRobotAtHomeBlocking ()
	Try localizing at each home position, choosing the best to be the current and the stored "home" position.
virtual std::list< ArPose >	getCurrentSamplePoses ()
	Gets the current sample poses if relevant.
virtual LocalizationState	getState (void)
	Get the localization state.
virtual double	getLocalizationScore (void)
	Get the localization score.
virtual double	getLocalizationThreshold (void)
	Get the localization threshold.
virtual bool	checkLocalizationIdle (void)
	Get the localization idle.
virtual void	setLocalizationIdle (bool f)
	Set the localization idle.
virtual void	setLocalizationThreshold (double t)
	Set the localization threshold.
virtual ArTransform	getEncoderToLocalizationTransform (void)
	Get the robot encoder to the localization pose transform.
const char *	getName (void)
	Gets the name of this task.
virtual int	getPoseInterpPosition (ArTime timeStamp, ArPose *position)
	See also: ArInterpolation::getPose
ArRetFunctor2< int, ArTime, ArPose * > *	getPoseInterpPositionCallback (void)
	Gets the callback that will call getPoseInterpPosition.
virtual bool	convertLLA2RobotCoords (double lat, double lon, double alt, double &ea, double &no, double &up)
	Convert LLA to Robot.
virtual bool	convertRobot2LLACoords (double ea, double no, double up, double &lat, double &lon, double &alt)
	Convert Robot to LLA.

---

Member Enumeration Documentation

enum ArBaseLocalizationTask::LocalizationState

State of the path plan, accessible using getState().

Enumerator:

LOCALIZATION_FAILED	Task not initialized.
LOCALIZATION_SUCCESS	Failed localization.
LOCALIZATION_INIT_COMPUTING	Failed to reach goal because superseded.
LOCALIZATION_MOVE_COMPUTING	Localization init in progress.
LOCALIZATION_IDLE	Localization move in progress.
INVALID	Invalid state.

---

Member Function Documentation

virtual void ArBaseLocalizationTask::setRobotPose	(	ArPose	pose,
		ArPose	spread = ArPose(-1., -1., -1.),
		int	nSam = -1
	)			[inline, virtual]

Used to set the robot pose usually at the start of localization.

This one with a spread around the set pose.

Reimplemented in ArLocalizationManager.

ArPose ArBaseLocalizationTask::getHomePose

(

)

[inline]

Deprecated:

---