Module move :: Class MoveToFixedPose

Class MoveToFixedPose

sm.SM --+
        |
       MoveToFixedPose

State machine representing robot behavior that drives to a specified pose. Inputs are instances of io.SensorInput; outputs are instances of io.Action. Robot first rotates toward goal, then moves straight, then rotates to desired final angle.

Instance Methods

__init__(self, goalPose, maxVel=maxVel)

getNextValues(self, state, inp)
Default version of this method.

done(self, state)
By default, machines don't terminate

Inherited from sm.SM: check, doTraceTasks, getStartState, guaranteeName, isDone, printDebugInfo, run, start, step, transduce, transduceF

Class Variables
	forwardGain = `1.0` Gain for driving forward
	rotationGain = `1.0` Gain for rotating
	maxVel = `0.5` Maximum velocity
	angleEps = `0.05` Tolerance for angles
	distEps = `0.05` Tolerance for distances
	startState = `False` By default, startState is none
Inherited from `sm.SM`: `legalInputs`, `name`

Instance Variables
Inherited from `sm.SM`: `state`

Method Details

init(self, goalPose, maxVel=maxVel)
(Constructor)

Parameters:

goalPose - instance of util.Pose specifying goal for robot in odometry coordinates

getNextValues(self, state, inp)

Default version of this method. If a subclass only defines getNextState, then we assume that the output of the machine is the same as its next state.

Overrides: sm.SM.getNextValues: (inherited documentation)

done(self, state)

By default, machines don't terminate

Overrides: sm.SM.done: (inherited documentation)

Class MoveToFixedPose

__init__(self, goalPose, maxVel=maxVel) (Constructor)

getNextValues(self, state, inp)

done(self, state)

init(self, goalPose, maxVel=maxVel)
(Constructor)