rpos::features::LocationProvider Class

Provides the localization and mapping (a.k.a SLAM) features of the SLAMWARE system.

Header File

rpos/features/location_provider.h

Applies to

• Slamware
• Mapper

Parent Class

rpos::core::Feature

Enums

enum MapKind {
    EXPLORERMAP = 0, //  The map used to perform localization and navigation   
    SWEEPERMAP = 10, // The map used to perform specifc tasks like sweeping   
    UWBMAP = 20, //  The map used to perform specifc tasks
};

Methods

std::vector<rpos::features::location_provider::MapType> getAvailableMaps()

Get all available map types.

rpos::features::location_provider::Map getMap(
    rpos::features::location_provider::MapType,
    rpos::core::RectangleF,
    rpos::features::location_provider::MapKind
)

Get the map data object with the specified map kind and areas.

bool setMap(
    const rpos::features::location_provider::Map&,
    rpos::features::location_provider::MapType,
    rpos::features::location_provider::MapKind
)

Upload map data to the SLAMWARE system based on the map kind.

bool setMapAndPose(
    const core::Pose& pose,
    const location_provider::Map& map,
    const location_provider::MapType& type,
    const location_provider::MapKind& kind,
    bool partially
)

Upload map data along with the robot pose to the SLAMWARE system based on the map kind.

rpos::core::RectangleF getKnownArea(
    rpos::features::location_provider::MapType,
    rpos::features::location_provider::MapKind
)

Retrieve the explored(mapped) area of the current map.

bool clearMap()

Clear all map data inside the SLAMWARE system.

bool clearMap(location_provider::MapKind kind)

Clear the specified map data inside the SLAMWARE system.

rpos::core::Location getLocation()

Get the robot location calcuated by the SLAMWARE System.

rpos::core::Pose getPose()

Get the robot pose calcuated by the SLAMWARE System.

bool setPose(const rpos::core::Pose&)

Upload and set the robot pose to the SLAMWARE System.

bool getMapLocalization()

Check whether the localization system is enabled in the SLAMWARE system.
Deadreck data will be used once localization system is disabled.

bool setMapLocalization(bool)

Set the SLAMWARE system to enable or disable the localization system.
Deadreck data will be used once localization system is disabled.

bool getMapUpdate(
    rpos::features::location_provider::MapKind kind = rpos::features::location_provider::EXPLORERMAP
)

Check wehther SLAMWARE system will perform map update to the specified map kind.
SLAMWARE system enters localization enhanced mode once map update is disabled.

bool setMapUpdate(
    bool update,
    rpos::features::location_provider::MapKind kind = rpos::features::location_provider::EXPLORERMAP
)

Set whether SLAMWARE system will perform map update to the specified map kind.
SLAMWARE system enters localization enhanced mode once map update is disabled.

int getLocalizationQuality()

Get the localization quality indication value of the current pose.

bool getHomePose(core::Pose&)

Get the charging base (dock) pose base on the current explorer map.

bool setHomePose(core::Pose)

Set the charging base (dock) pose base on the current explorer map.

location_provider::PointPDF getAuxLocation()

Get the Aux localization data (require external module support)

location_provider::AuxLocalizationStatus getAuxLocalizationStatus(
    location_provider::AuxLocalizationSource source
)

Get the Aux localization beacon status (require external module support)

bool getImuInRobotCoordinate(rpos::core::Imu&)

Get the imu data that represented in robot coordinate.