24 #ifndef __PLUGINS_COLLI_SELECT_DRIVE_MODE_H_ 25 #define __PLUGINS_COLLI_SELECT_DRIVE_MODE_H_ 35 class AbstractDriveMode;
37 class NavigatorInterface;
40 class LaserOccupancyGrid;
59 void update(
bool escape =
false );
72 void set_laser_data( std::vector<fawkes::polar_coord_2d_t>& laser_points );
85 std::vector< AbstractDriveMode * > drive_modes_;
103 void load_drive_modes_differential();
104 void load_drive_modes_omnidirectional();
SelectDriveMode(MotorInterface *motor, NavigatorInterface *colli_target, Logger *logger, Configuration *config, colli_escape_mode_t escape_mode=colli_escape_mode_t::basic)
Constructor.
~SelectDriveMode()
Desctructor.
Cartesian coordinates (2D).
void set_laser_data(std::vector< fawkes::polar_coord_2d_t > &laser_points)
search for the escape drive mode and hands over the given information to the escape drive mode This s...
float get_proposed_rot()
Returns the proposed rotation. After an update.
Fawkes library namespace.
void set_local_target(float x, float y)
Set local target point before update!
Storing Translation and rotation.
This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed ...
void set_grid_information(LaserOccupancyGrid *occ_grid, int robo_x, int robo_y)
search for the escape drive mode and hands over the given information to the escape drive mode This s...
This class selects the correct drive mode and calls the appopriate drive component.
void update(bool escape=false)
Has to be called before the proposed values are called.
colli_drive_restriction_t
Colli drive restrictions.
void set_local_trajec(float x, float y)
Set local trajectory point before update!
colli_escape_mode_t
Colli Escape modes.
MotorInterface Fawkes BlackBoard Interface.
Interface for configuration handling.
float get_proposed_trans_x()
Returns the proposed translation. After an update.
NavigatorInterface Fawkes BlackBoard Interface.
float get_proposed_trans_y()
Returns the proposed translation. After an update.