model_position.c File Reference

#include <sys/time.h>
#include <math.h>
#include <stdlib.h>
#include "stage_internal.h"
#include "gui.h"

Functions

double drand48 ()
void gauss_rand (double *y1, double *y2)
void position_init (stg_model_t *mod)
void position_load (stg_model_t *mod)
int position_render_data (stg_model_t *mod, void *userp)
int position_render_text (stg_model_t *mod, void *userp)
int position_shutdown (stg_model_t *mod)
int position_startup (stg_model_t *mod)
int position_unrender_data (stg_model_t *mod, void *userp)
int position_unrender_text (stg_model_t *mod, void *userp)
int position_update (stg_model_t *mod)
void stg_model_position_get_odom (stg_model_t *mod, stg_pose_t *odom)
void stg_model_position_odom_reset (stg_model_t *mod)
void stg_model_position_set_odom (stg_model_t *mod, stg_pose_t *odom)
stg_model_tstg_model_test_collision_at_pose (stg_model_t *mod, stg_pose_t *pose, double *hitx, double *hity)

Variables

const double STG_POSITION_INTEGRATION_BIAS_MAX_A = 0.05
const double STG_POSITION_INTEGRATION_BIAS_MAX_X = 0.03
const double STG_POSITION_INTEGRATION_BIAS_MAX_Y = 0.03
const double STG_POSITION_INTEGRATION_ERROR_A = 0.05
const double STG_POSITION_INTEGRATION_ERROR_X = 0.03
const double STG_POSITION_INTEGRATION_ERROR_Y = 0.03
const double STG_POSITION_WATTS = 2.0
const double STG_POSITION_WATTS_KGMS = 5.0

Function Documentation

double drand48 (  ) 

Referenced by gauss_rand(), and position_init().

void gauss_rand ( double *  y1,
double *  y2 
)

References drand48().

Referenced by position_update().

int position_shutdown ( stg_model_t mod  ) 

int position_startup ( stg_model_t mod  ) 

int position_unrender_data ( stg_model_t mod,
void *  userp 
)

References stg_model_fig_clear().

Referenced by position_init().

int position_unrender_text ( stg_model_t mod,
void *  userp 
)

References stg_model_fig_clear().

Referenced by position_init().

void stg_model_position_get_odom ( stg_model_t mod,
stg_pose_t odom 
)

void stg_model_position_odom_reset ( stg_model_t mod  ) 

stg_model_t* stg_model_test_collision_at_pose ( stg_model_t mod,
stg_pose_t pose,
double *  hitx,
double *  hity 
)


Variable Documentation

Referenced by position_init().

Referenced by position_init().

Referenced by position_init().

const double STG_POSITION_INTEGRATION_ERROR_A = 0.05

Referenced by position_init().

const double STG_POSITION_INTEGRATION_ERROR_X = 0.03

Referenced by position_init().

const double STG_POSITION_INTEGRATION_ERROR_Y = 0.03

Referenced by position_init().

const double STG_POSITION_WATTS = 2.0

Referenced by position_startup().

const double STG_POSITION_WATTS_KGMS = 5.0


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