Class DockingManager
Defined in File docking_manager.hpp
Class Documentation
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class DockingManager
Public Functions
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DockingManager(const gazebo::physics::WorldPtr &world, const std::string &robot_name, const std::string &receiver_link_name, const std::string &dock_name, const std::string &emitter_link_name)
Constructor.
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bool AreModelsReady()
Use this method to check that the models are ready in gazebo before dereferencing their pointers
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irobot_create_toolbox::PolarCoordinate EmitterCartesianPointToReceiverPolarPoint(const ignition::math::Vector2d &emitter_point)
Change reference frame of a cartesian point WRT emitter and return in the new frame as polar point
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irobot_create_toolbox::PolarCoordinate ReceiverCartesianPointToEmitterPolarPoint(const ignition::math::Vector2d &receiver_point)
Change reference frame of a cartesian point WRT receiver and return in the new frame as polar point
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DockingManager(const gazebo::physics::WorldPtr &world, const std::string &robot_name, const std::string &receiver_link_name, const std::string &dock_name, const std::string &emitter_link_name)