pyrobot.core.
Base
(configs)[source]¶Bases: object
This is a parent class on which the robot specific Base classes would be built.
__init__
(configs)[source]¶The consturctor for Base class.
Parameters: | configs (YACS CfgNode) – configurations for base |
---|
get_state
(state_type)[source]¶Returns the requested base pose in the (x,y, yaw) format.
Parameters: | state_type (string) – Requested state type. Ex: Odom, SLAM, etc |
---|---|
Returns: | pose: pose of the form [x, y, yaw] |
Return type: | list |
go_to_absolute
(xyt_position, use_map, close_loop, smooth)[source]¶Moves the robot to the robot to given goal state in the world frame.
Parameters: |
|
---|
go_to_relative
(xyt_position, use_map, close_loop, smooth)[source]¶Moves the robot to the robot to given goal state relative to its initial pose.
Parameters: |
|
---|
set_vel
(fwd_speed, turn_speed, exe_time=1)[source]¶Set the moving velocity of the base
Parameters: |
|
---|
track_trajectory
(states, controls, close_loop)[source]¶State trajectory that the robot should track.
Parameters: |
|
---|