Provides robot drive velocity commands to navigate the robot to a given waypoint given the velocity parameters to drive the robot at, the proportional factor to steer the robot with and the 2D Cartesian position of the target in the world reference frame. More...

#include <DriveToWaypointCommand.h>

Inheritance diagram for commands::DriveToWaypointCommand:

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Collaboration diagram for commands::DriveToWaypointCommand:

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Public Member Functions
	DriveToWaypointCommand (const navtypes::point_t &target, double thetaKP, double driveVel, double slowDriveThresh, double doneThresh, util::dseconds closeToTargetDur)
	Creates a new DriveToWaypointCommand with the specified targeting information.

void	setState (const navtypes::pose_t &pose, robot::types::datatime_t time)
	Must be called before getOutput() for each iteration.

command_t	getOutput () override
	Gets the angular velocity and forward speed to run the robot at in order to navigate robot to target.

bool	isDone () override
	Returns whether the DriveToWaypointCommand has finished its navigation task.

Detailed Description

Provides robot drive velocity commands to navigate the robot to a given waypoint given the velocity parameters to drive the robot at, the proportional factor to steer the robot with and the 2D Cartesian position of the target in the world reference frame.

Constructor & Destructor Documentation

◆ DriveToWaypointCommand()

commands::DriveToWaypointCommand::DriveToWaypointCommand	(	const navtypes::point_t &	target,
		double	thetaKP,
		double	driveVel,
		double	slowDriveThresh,
		double	doneThresh,
		util::dseconds	closeToTargetDur )

Creates a new DriveToWaypointCommand with the specified targeting information.

Parameters

target	the position of the target in world coordinates.
thetaKP	the scaling factor to use for robot steering proportional control.
driveVel	the speed to drive the robot at.
slowDriveThresh	the distance at which the robot will start slowing down.
doneThresh	the threshold for minimum robot-target distance to complete command.
closeToTargetDurVal	the duration within doneThresh after which robot navigation is considered done, seconds.

Member Function Documentation

◆ getOutput()

command_t commands::DriveToWaypointCommand::getOutput ( )

overridevirtual

Gets the angular velocity and forward speed to run the robot at in order to navigate robot to target.

Returns: the angular velocity and forward speed to run the robot at in order to navigate robot to target.

Implements commands::CommandBase.

◆ isDone()

bool commands::DriveToWaypointCommand::isDone ( )

overridevirtual

Returns whether the DriveToWaypointCommand has finished its navigation task.

Returns: whether the DriveToWaypointCommand has finished its navigation task.

Implements commands::CommandBase.

◆ setState()

void commands::DriveToWaypointCommand::setState	(	const navtypes::pose_t &	pose,
		robot::types::datatime_t	time )

Must be called before getOutput() for each iteration.

Updates the current pose of the robot in the global reference frame used by DriveToWaypointCommand.