wolf::MotionProvider Class Reference

#include <core/processor/motion_provider.h>

Inheritance diagram for wolf::MotionProvider:

Public Member Functions
	MotionProvider (const TypeComposite &_state_types, const YAML::Node &_params)
	Constructor for the MotionProvider class. More...
virtual	~MotionProvider ()
	Destructor for the MotionProvider class. More...
virtual TimeStamp	getTimeStamp () const =0
	Get the timestamp of the last motion. More...
virtual VectorComposite	getState (StateKeys _keys="") const =0
	Get the state at the last time. More...
virtual VectorComposite	getState (const TimeStamp &_ts, StateKeys _keys="") const =0
	Get the state at a specific time. More...
VectorComposite	getOdometry () const
	Get the odometry. More...
void	setOdometry (const VectorComposite &)
	Set the odometry. More...
bool	isStateProvider () const
	Check if the motion provider is configured as a state provider. More...
unsigned int	getOrder () const
	Get the order of the state provider. More...
void	setOrder (unsigned int)
	Set the order of the state provider. More...

Protected Member Functions
void	addTypes (const TypeComposite &_state_types)
	Add types to the motion provider. More...

Protected Attributes
bool	is_state_provider_
	Whether this motion provider is configured as a state provider. More...
unsigned int	state_provider_order_
	If a state provider, the order to be used by the problem. More...

Constructor & Destructor Documentation

MotionProvider()

MotionProvider::MotionProvider	(	const TypeComposite &	_state_types,
		const YAML::Node &	_params
	)

Constructor for the MotionProvider class.

Parameters

_state_types	TypeComposite with the types of the states that this motion provider will provide.
_params	YAML node with the parameters of the motion provider.

~MotionProvider()

wolf::MotionProvider::~MotionProvider ( )

inlinevirtual

Destructor for the MotionProvider class.

Member Function Documentation

addTypes()

void MotionProvider::addTypes ( const TypeComposite &  _state_types )

protected

Add types to the motion provider.

Parameters

_state_types

The types of the states that this motion provider will provide

getOdometry()

wolf::VectorComposite MotionProvider::getOdometry

(

)

const

Get the odometry.

Returns

The odometry

getOrder()

unsigned int wolf::MotionProvider::getOrder ( ) const

inline

Get the order of the state provider.

Returns

The order of the state provider to be used by the problem

getState() [1/2]

virtual VectorComposite wolf::MotionProvider::getState ( const TimeStamp &  _ts, StateKeys  _keys = ""  ) const

pure virtual

Get the state at a specific time.

Parameters

_ts	The timestamp of the state to retrieve
_keys	The keys of the states to retrieve if empty, all keys are retrieved

Returns

The state at the specified time

Implemented in wolf::ProcessorMotion.

getState() [2/2]

virtual VectorComposite wolf::MotionProvider::getState ( StateKeys  _keys = "" ) const

pure virtual

Get the state at the last time.

Parameters

_keys

The keys of the states to retrieve if empty, all keys are retrieved

Returns

The state at the current time

Implemented in wolf::ProcessorMotion.

getTimeStamp()

virtual TimeStamp wolf::MotionProvider::getTimeStamp ( ) const

pure virtual

Get the timestamp of the last motion.

Returns

The timestamp of the lastmotion

Implemented in wolf::ProcessorMotion.

isStateProvider()

bool wolf::MotionProvider::isStateProvider ( ) const

inline

Check if the motion provider is configured as a state provider.

Returns

True if the motion provider is a state provider, false otherwise

setOdometry()

void MotionProvider::setOdometry

(

const VectorComposite &

_odom

)

Set the odometry.

Parameters

_odometry

The odometry

setOrder()

void wolf::MotionProvider::setOrder ( unsigned int  _order )

inline

Set the order of the state provider.

Parameters

_order

The order of the state provider to be used by the problem

Member Data Documentation

is_state_provider_

bool wolf::MotionProvider::is_state_provider_

protected

Whether this motion provider is configured as a state provider.

state_provider_order_

unsigned int wolf::MotionProvider::state_provider_order_

protected

If a state provider, the order to be used by the problem.

---

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

• include/core/processor/motion_provider.h
• src/processor/motion_provider.cpp