gams::pose::Epsilon Class Reference

A simple bounds checker which tests whether the current position is within the given number of meters of the expected position, and whether the difference in angles is within the given number of radians. More...

#include <Epsilon.h>

Inheritance diagram for gams::pose::Epsilon:

Public Member Functions
	Epsilon ()
	Use default values for position and angle tolerance. More...
	Epsilon (double dist)
	Use default value for angle tolerance. More...
template<typename AngleUnits >
	Epsilon (double dist, double angle, AngleUnits u)
	Use specified tolerances, with custom angle units. More...
	Epsilon (double dist_tol, double radians_tol)
	Use specified tolerances. More...
bool	check_orientation (const pose::Orientation &current, const pose::Orientation &target) const override
	Override to return whether the current orientation is within the expected bounds of target. More...
bool	check_position (const pose::Position &current, const pose::Position &target) const override
	Override to return whether the current position is within the expected bounds of target. More...

Private Attributes
double	dist_ = 0.1
double	radians_ = M_PI/16

Detailed Description

A simple bounds checker which tests whether the current position is within the given number of meters of the expected position, and whether the difference in angles is within the given number of radians.

Definition at line 101 of file Epsilon.h.

Constructor & Destructor Documentation

Epsilon() [1/4]

gams::pose::Epsilon::Epsilon ( )

inline

Use default values for position and angle tolerance.

Definition at line 106 of file Epsilon.h.

Epsilon() [2/4]

gams::pose::Epsilon::Epsilon ( double  dist )

inline

Use default value for angle tolerance.

Parameters

dist	the position tolerance (in meters)

Definition at line 111 of file Epsilon.h.

Epsilon() [3/4]

gams::pose::Epsilon::Epsilon ( double  dist_tol, double  radians_tol  )

inline

Use specified tolerances.

Parameters

dist_tol	the position tolerance (in meters)
radians_tol	the angle tolerance (in radians)

Definition at line 118 of file Epsilon.h.

Epsilon() [4/4]

template<typename AngleUnits >

gams::pose::Epsilon::Epsilon ( double  dist, double  angle, AngleUnits  u  )

inline

Use specified tolerances, with custom angle units.

Parameters

dist	the position tolerance (in meters)
angle	the angle tolerance (in units given)
u	an angle units object (such as pose::radians, pose::degrees, or pose::revolutions)

Template Parameters

AngleUnits

the units type for angle (inferred from u)

Definition at line 130 of file Epsilon.h.

Member Function Documentation

check_orientation()

bool gams::pose::Epsilon::check_orientation ( const pose::Orientation &  current, const pose::Orientation &  target  ) const

inlineoverridevirtual

Override to return whether the current orientation is within the expected bounds of target.

Implements gams::pose::OrientationBounds.

Definition at line 139 of file Epsilon.h.

check_position()

bool gams::pose::Epsilon::check_position ( const pose::Position &  current, const pose::Position &  target  ) const

inlineoverridevirtual

Override to return whether the current position is within the expected bounds of target.

Implements gams::pose::PositionBounds.

Definition at line 133 of file Epsilon.h.

Member Data Documentation

dist_

double gams::pose::Epsilon::dist_ = 0.1

private

Definition at line 103 of file Epsilon.h.

radians_

double gams::pose::Epsilon::radians_ = M_PI/16

private

Definition at line 103 of file Epsilon.h.

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

• src/gams/pose/Epsilon.h