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/*
* Copyright (C) 2018 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef IGNITION_PLUGIN_EXAMPLES_PLUGINS_ROBOT_HH_
#define IGNITION_PLUGIN_EXAMPLES_PLUGINS_ROBOT_HH_
#include <utility>
#include <ignition/math/Vector2.hh>
#include <ignition/math/Vector3.hh>
#include <ignition/plugin/Register.hh>
namespace ignition
{
namespace plugin
{
namespace examples
{
/////////////////////////////////////////////////
/// \brief Interface for driving.
class Drive
{
/// \brief Indicate the frequency of this robot's control loop in Hz.
/// The inverse of this value will be the size of the time step in the
/// simulation.
/// \return Control loop frequency in Hz.
public: virtual double Frequency() const = 0;
/// \brief Indicate how fast the robot is driving in SE(2).
/// \return The first two components are x/y velocity (m/s). The third
/// component is the yaw velocity (rad/s about the z-axis). The x/y
/// coordinates are always relative to the robot's frame.
public: virtual ignition::math::Vector3d Velocity() const = 0;
/// \brief Virtual destructor
public: virtual ~Drive() = default;
};
/////////////////////////////////////////////////
/// \brief Interface for a proximity sensor.
class ProximitySensor
{
/// \brief Return the maximum range of the proximity sensor.
/// \return The maximum range of the proximity sensor, in meters.
public: virtual double MaxRange() const = 0;
/// \brief Receive a proximity reading (how far in front of the robot
/// the nearest wall is).
/// \param[in] _distance The distance (m) to the nearest wall in front
/// of the robot. If the nearest distance is outside the max range, the
/// value passed in will be infinity, which can be checked using the
/// function std::isinf(~).
public: virtual void ReadProximity(double _distance) = 0;
/// \brief Virtual destructor
public: virtual ~ProximitySensor() = default;
};
/////////////////////////////////////////////////
/// \brief Interface for a GPS sensor.
class GPSSensor
{
/// \brief Get a GPS reading.
/// \param[in] _location The world-frame x/y location of the robot.
public: virtual void ReadGPS(
const ignition::math::Vector2d &_location) = 0;
/// \brief Virtual destructor
public: virtual ~GPSSensor() = default;
};
/////////////////////////////////////////////////
/// \brief Interface for a compass sensor.
class Compass
{
/// \brief Get a compass reading.
/// \param[in] _orientation The world-frame yaw of the robot.
public: virtual void ReadCompass(double _orientation) = 0;
/// \brief Virtual destructor
public: virtual ~Compass() = default;
};
/////////////////////////////////////////////////
/// \brief A pair of Vector2d points defines a wall.
using Wall =
std::pair<ignition::math::Vector2d, ignition::math::Vector2d>;
/////////////////////////////////////////////////
/// \brief The layout of an environment is defined by a set of walls.
using Layout = std::vector<Wall>;
/////////////////////////////////////////////////
/// \brief Interface for robots that have a map database. Robot plugins
/// with this interface will be given a layout of the map before the
/// simulation begins.
class MapDatabase
{
/// \brief Get a complete map reading.
/// \param[in] _map The complete map of the environment.
public: virtual void ReadMap(const Layout &_map) = 0;
/// \brief Virtual destructor
public: virtual ~MapDatabase() = default;
};
/////////////////////////////////////////////////
/// \brief Interface for defining an environment.
class Environment
{
/// \brief Get the layout of the environment.
/// \return A set of pairs of points. Each pair represents a wall.
public: virtual Layout GenerateLayout() const = 0;
/// \brief Virtual destructor
public: virtual ~Environment() = default;
};
}
}
}
#endif
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