Welcome to MobRob_ROS_behcon’s documentation!

Modules:

mobrob_behcon.core — core module

This module contains core classes.

Class overview:

behcon_node.BehConNode(id)

The class BehConNode

resolver.Resolver()

The class Resolver

perceptual_space.PerceptualSpace(visu)

The class PerceptualSpace

visualisation.KOOSVisu()

The class KOOSVisu

mobrob_behcon.desires — desires module

This module contains several classes about desires.

Class overview:

desire.Desire(value, strength[, function])

The class Desire

desires.DesCmdVel(value, strength)

The class DesCmdVel

desires.DesTransVel(value, strength)

The class DesTransVel

desires.DesRotVel(value, strength)

The class DesTransVel

desires.DesCmdLight(value, strength)

mobrob_behcon.connectors — connectors module

This module contains classes to connect sensors and actuators.

Class overview:

camera.CameraTCP(ip_address, port)

The class CameraTCP

egopose.EgoPose(ros_topic)

The class EgoPose

laserscanner.LaserScanner(ros_topic, visu)

The class LaserScanner

gripper.Gripper([ros_service])

The class Gripper

mobrob_behcon.strategies — strategies module

This module contains strategy classes.

Class overview:

strategy.Strategy()

The abstract class Strategy

rd_strategy.RDStrategy(dock, turn90)

The class RDStrategy

mobrob_behcon.behaviours — behaviours module

This module contains classes about behaviours.

Class overview:

behaviour.Behaviour(name)

The abstract class Behaviour

beh_align.BehAlign(name[, tolerance, rot_vel])

The class BehAlign

beh_limfor.BehLimFor(name[, stopdistance, ...])

The class BehLimFor

beh_stop.BehStop(name[, stopdistance])

The class BehStop

beh_reached.BehReached(name[, stopdistance])

The class BehReached

beh_transvel.BehConstTransVel(name[, ...])

The class BehConstTransVel

beh_turn.BehTurn(name[, degrees, rot_vel])

The class BehTurn

behaviourgroup.BehaviourGroup(name)

The class BehaviourGroup

mobrob_behcon.visu — visu module

This module contains classes about behaviours.

Class overview:

visu_behcon.VisuBehCon(behconnode)

The class VisuBehCon

graphics.GraphWin([title, width, height, ...])

A GraphWin is a toplevel window for displaying graphics.

graphics.Transform(w, h, xlow, ylow, xhigh, ...)

Internal class for 2-D coordinate transformations

graphics.GraphicsObject(options)

Generic base class for all of the drawable objects

graphics.Point(x, y)

graphics._BBox(p1, p2[, options])

graphics.Rectangle(p1, p2)

graphics.Oval(p1, p2)

graphics.Circle(center, radius)

graphics.Line(p1, p2)

graphics.Polygon(*points)

graphics.Text(p, text)

graphics.Entry(p, width)

graphics.Image(p, *pixmap)

mobrob_behcon.utils — utils module

This module contains classes with several helpful utils.

Function overview:

mobrob_transformation.get_T_world_robot(...)

Get transformation from world to robot

mobrob_transformation.get_T_robot_laser()

Get transformation from robot to laser

mobrob_transformation.get_T_laser_cluster(...)

Get transformationmatrix from laser to cluster

mobrob_transformation.get_T_of_3Dpoint(x, y)

Get transformationmatix of simple 3D translation vector

mobrob_transformation.get_T_world_cluster(...)

Get transformation from world to laserpoint cluster

mobrob_transformation.get_world_coordinate(...)

Transforms a point in robot space to world space

mobrob_transformation.get_laser_coordinate(x, y)

Transforms a point in robot space to laser space

mobrob_transformation.get_robot_coordinate(x, y)

Transforms a point in laser space to robot space

mobrob_transformation.get_robot_corners(...)

Get corners of robot as coordinates in world space

Indices and tables