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;
53 void set_local_target(
float x,
float y );
56 void set_local_trajec(
float x,
float y );
59 void update(
bool escape =
false );
62 float get_proposed_trans_x();
65 float get_proposed_trans_y();
68 float get_proposed_rot();
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();
Cartesian coordinates (2D).
Fawkes library namespace.
Storing Translation and rotation.
This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed ...
This class selects the correct drive mode and calls the appopriate drive component.
colli_drive_restriction_t
Colli drive restrictions.
colli_escape_mode_t
Colli Escape modes.
MotorInterface Fawkes BlackBoard Interface.
Interface for configuration handling.
NavigatorInterface Fawkes BlackBoard Interface.