yarp::dev::Nav2D::ILocalization2D Class Reference

ILocalization2D interface. More...

#include <yarp/dev/ILocalization2D.h>

Inheritance diagram for yarp::dev::Nav2D::ILocalization2D:

Detailed Description

ILocalization2D interface.

Provides methods to obtain the pose of the robot in a known map.

Definition at line 39 of file ILocalization2D.h.

Public Member Functions
virtual	~ILocalization2D ()
	Destructor. More...
virtual bool	startLocalizationService ()=0
	Starts the localization service. More...
virtual bool	stopLocalizationService ()=0
	Stops the localization service. More...
virtual bool	getLocalizationStatus (LocalizationStatusEnum &status)=0
	Gets the current status of the localization task. More...
virtual bool	getEstimatedPoses (std::vector< yarp::dev::Nav2D::Map2DLocation > &poses)=0
	Gets a set of pose estimates computed by the localization algorithm. More...
virtual bool	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc)=0
	Gets the current position of the robot w.r.t world reference frame. More...
virtual bool	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc, yarp::sig::Matrix &cov)=0
	Gets the current position of the robot w.r.t world reference frame, plus the covariance. More...
virtual bool	getEstimatedOdometry (yarp::dev::OdometryData &odom)=0
	Gets the estimated odometry the robot, including its velocity expressed in the world and in the local reference frame. More...
virtual bool	setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc)=0
	Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame. More...
virtual bool	setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc, const yarp::sig::Matrix &cov)=0
	Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame. More...

Constructor & Destructor Documentation

~ILocalization2D()

yarp::dev::ILocalization2D::~ILocalization2D ( )

inlinevirtualdefault

Destructor.

Definition at line 45 of file ILocalization2D.h.

Member Function Documentation

getCurrentPosition() [1/2]

virtual bool yarp::dev::Nav2D::ILocalization2D::getCurrentPosition ( yarp::dev::Nav2D::Map2DLocation &  loc )

pure virtual

Gets the current position of the robot w.r.t world reference frame.

Parameters

loc	the location of the robot

Returns

true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

getCurrentPosition() [2/2]

virtual bool yarp::dev::Nav2D::ILocalization2D::getCurrentPosition ( yarp::dev::Nav2D::Map2DLocation &  loc, yarp::sig::Matrix &  cov  )

pure virtual

Gets the current position of the robot w.r.t world reference frame, plus the covariance.

Parameters

loc	the location of the robot
cov	the 3x3 covariance matrix

Returns

true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

getEstimatedOdometry()

virtual bool yarp::dev::Nav2D::ILocalization2D::getEstimatedOdometry ( yarp::dev::OdometryData &  odom )

pure virtual

Gets the estimated odometry the robot, including its velocity expressed in the world and in the local reference frame.

Parameters

loc	the estimated odometry.

Returns

true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

getEstimatedPoses()

virtual bool yarp::dev::Nav2D::ILocalization2D::getEstimatedPoses ( std::vector< yarp::dev::Nav2D::Map2DLocation > &  poses )

pure virtual

Gets a set of pose estimates computed by the localization algorithm.

Returns

true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

getLocalizationStatus()

virtual bool yarp::dev::Nav2D::ILocalization2D::getLocalizationStatus ( LocalizationStatusEnum &  status )

pure virtual

Gets the current status of the localization task.

Returns

true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

setInitialPose() [1/2]

virtual bool yarp::dev::Nav2D::ILocalization2D::setInitialPose ( const yarp::dev::Nav2D::Map2DLocation &  loc )

pure virtual

Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.

Parameters

loc	the location of the robot

Returns

true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

setInitialPose() [2/2]

virtual bool yarp::dev::Nav2D::ILocalization2D::setInitialPose ( const yarp::dev::Nav2D::Map2DLocation &  loc, const yarp::sig::Matrix &  cov  )

pure virtual

Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.

Parameters

loc	the location of the robot
cov	the 3x3 covariance matrix

Returns

true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

startLocalizationService()

virtual bool yarp::dev::Nav2D::ILocalization2D::startLocalizationService ( )

pure virtual

Starts the localization service.

Returns

true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

stopLocalizationService()

virtual bool yarp::dev::Nav2D::ILocalization2D::stopLocalizationService ( )

pure virtual

Stops the localization service.

Returns

true/false

Implemented in Navigation2DClient, Localization2DClient, and fakeLocalizer.

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

• src/libYARP_dev/src/yarp/dev/ILocalization2D.h
• src/libYARP_dev/src/yarp/dev/ILocalization2D.cpp