Base

class pyrobot.core.Base(configs)

Bases: object

This is a parent class on which the robot specific Base classes would be built.

__init__(configs)

The consturctor for Base class.

Parameters:configs (YACS CfgNode) – configurations for base

get_state(state_type)

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)

Moves the robot to the robot to given goal state in the world frame.

Parameters:

• xyt_position (list) – The goal state of the form (x,y,t) in the world (map) frame.
• use_map (bool) – When set to “True”, ensures that controler is using only free space on the map to move the robot.
• close_loop (bool) – When set to “True”, ensures that controler is operating in open loop by taking account of odometry.
• smooth (bool) – When set to “True”, ensures that the motion leading to the goal is a smooth one.

go_to_relative(xyt_position, use_map, close_loop, smooth)

Moves the robot to the robot to given goal state relative to its initial pose.

Parameters:

• xyt_position (list) – The relative goal state of the form (x,y,t)
• use_map (bool) – When set to “True”, ensures that controler is using only free space on the map to move the robot.
• close_loop (bool) – When set to “True”, ensures that controler is operating in open loop by taking account of odometry.
• smooth (bool) – When set to “True”, ensures that the motion leading to the goal is a smooth one.

set_vel(fwd_speed, turn_speed, exe_time=1)

Set the moving velocity of the base

Parameters:

• fwd_speed – forward speed
• turn_speed – turning speed
• exe_time – execution time

stop()

Stop the base

track_trajectory(states, controls, close_loop)

State trajectory that the robot should track.

Parameters:

• states (list) – sequence of (x,y,t) states that the robot should track.
• controls (list) – optionally specify control sequence as well.
• close_loop (bool) – whether to close loop on the computed control sequence or not.