Mapbase - Revision history

Jca: /* Introduction */

2012-08-29T07:57:38Z

Introduction

← Older revision		Revision as of 09:57, 29 August 2012
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	===Introduction===		===Introduction===

	The mapbase plugin were created for the masters thesis Mission Management for Mobile Robots by Anders Beck. http://~~www~~.elektro.dtu.dk/~~English~~/~~research~~/~~publications_elektro~~.~~aspx?lg=showcommon&id=246287~~		The mapbase plugin were created for the masters thesis Mission Management for Mobile Robots by Anders Beck.

			http://aut.elektro.dtu.dk/mobotware/doc/Mission_Management_for_Mobile_Robots.pdf.pdf

	The mapbase describes a graph that consist of nodes and edges (that connect the nodes), a nodes can further have a number of map lines and points described in the local coordinatesystem of the node.		The mapbase describes a graph that consist of nodes and edges (that connect the nodes), a nodes can further have a number of map lines and points described in the local coordinatesystem of the node.

Jca: /* Introduction */

2011-09-05T11:30:09Z

Introduction

← Older revision		Revision as of 13:30, 5 September 2011
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	The mapbase plugin were created for the masters thesis Mission Management for Mobile Robots by Anders Beck. http://www.elektro.dtu.dk/English/research/publications_elektro.aspx?lg=showcommon&id=246287		The mapbase plugin were created for the masters thesis Mission Management for Mobile Robots by Anders Beck. http://www.elektro.dtu.dk/English/research/publications_elektro.aspx?lg=showcommon&id=246287

	The mapbase can ~~hold~~ a reference node, that describes a pose in some (world) coordinate system~~, this~~ pose is then the origin of further sub-nodes (and each of these can then be used as origin in an even more localized coordinate system with its own nodes).		The mapbase describes a graph that consist of nodes and edges (that connect the nodes), a nodes can further have a number of map lines and points described in the local coordinatesystem of the node.
	The nodes can be connected with edges, the nodes and edges describe a graph (one or more connected graphs). Each node and ~~graph~~ can hold additional new attributes, that the user can retrieve ~~from the node and edges~~.
			The map graph has a reference node that describes a pose in some (world) coordinate system. This pose is then the origin of further sub-nodes (and each of these can then be used as origin in an even more localized coordinate system with its own nodes).
			The nodes can be connected with edges, the nodes and edges describe a full graph (one or more connected graphs). Each node and edge can hold additional new attributes, that the user can retrieve.

	In a reference node there can further be defined map-lines and map-points, these points and lines are defined in the coordinate system of the node. The map lines and points can further have attributes, that can be retrieved ~~with the lines~~.		In a reference node there can further be defined map lines and map points, these points and lines are defined in the coordinate system of the node. The map lines and points can further have attributes, that can be retrieved.

	===Load the mapbase plugin===		===Load the mapbase plugin===

Jca at 11:24, 5 September 2011

2011-09-05T11:24:52Z

← Older revision		Revision as of 13:24, 5 September 2011
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			===Introduction===

	The mapbase plugin were created for the masters thesis Mission Management for Mobile Robots by Anders Beck. http://www.elektro.dtu.dk/English/research/publications_elektro.aspx?lg=showcommon&id=246287		The mapbase plugin were created for the masters thesis Mission Management for Mobile Robots by Anders Beck. http://www.elektro.dtu.dk/English/research/publications_elektro.aspx?lg=showcommon&id=246287

Jca at 11:24, 5 September 2011

2011-09-05T11:24:21Z

@@ Line 1: / Line 1: @@
 The mapbase plugin were created for the masters thesis Mission Management for Mobile Robots by Anders Beck. http://www.elektro.dtu.dk/English/research/publications_elektro.aspx?lg=showcommon&id=246287
-Part of the thesis is reproduced here:
+The mapbase can hold a reference node, that describes a pose in some (world) coordinate system, this pose is then the origin of further sub-nodes (and each of these can then be used as origin in an even more localized coordinate system with its own nodes).
 ===Mapbase on-line functions===
@@ Line 46: / Line 64: @@
   (H: has time series, L: is logged, R: replay)
   </help>
 ===Use of mapbase===

Jca: /* The graph */

2011-09-05T09:23:00Z

The graph

← Older revision		Revision as of 11:23, 5 September 2011
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	The first rule "driveNode" (used as a function) fetches the node pose from mapbase, the second mission rule (cherryFull) provides the node sequence.		The first rule "driveNode" (used as a function) fetches the node pose from mapbase, the second mission rule (cherryFull) provides the node sequence.

			The rule interpreter is the plugin (aurule.so.0), where "driveNode" is parh of the "drivebase.rule" set of rules (in AURS/build/config/conf_hako2/drivebase.rule).

	<rule name="driveNode">		<rule name="driveNode">

Jca: /* The graph */

2011-09-05T09:19:22Z

The graph

← Older revision		Revision as of 11:19, 5 September 2011
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	<rule name="driveNode">		<rule name="driveNode">
	<parameters node="''" hdg="0"/>		<parameters node="' '" hdg="0"/>
	<init>		<init>
	nextNode[2] = 0.0;		nextNode[2] = 0.0;

Jca: /* The graph */

2011-09-05T09:18:24Z

The graph

@@ Line 98: / Line 98: @@
 ====The graph====
-An example of using the graph nodes (in the apple_cherry_graph.xml loaded above) is the mission rule used on the cherry orchard mission:
+An example of using the graph nodes (in the apple_cherry_graph.xml loaded above) is the mission rule used on the cherry orchard mission.
   <rule name="cherryFull" run="false">

Jca: /* The map */

2011-09-05T09:13:38Z

The map

← Older revision		Revision as of 11:13, 5 September 2011
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	mapline ml;		mapline ml;
	int i, n = 0;		int i, n = 0;
	~~U2Dseg line, sb, sf, sl, sr;~~
	~~U2Dpos bl, fl, br, fr, xp; // search box~~
	~~UPose ps1, ps2, ps3;~~
	~~U2Dpos po1, po2, po3, po4;~~
	~~UPosition pos1, pos2;~~
	~~UPoseTime pt;~~
	const int MRL = 500;		const int MRL = 500;
	char reply[MRL];		char reply[MRL];
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	return n;		return n;
	}		}


	====The graph====		====The graph====

Jca: /* Mission graph */

2011-09-05T09:11:29Z

Mission graph

← Older revision		Revision as of 11:11, 5 September 2011
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	</map>		</map>

	===Mission graph===		===Mission graph definition===

	The mapbase can also hold a mission graph nodes and edges.		The mapbase can also hold a mission graph nodes and edges.

Jca at 09:11, 5 September 2011

2011-09-05T09:11:10Z

@@ Line 57: / Line 57: @@
   ...
-===Use of graph===
+===Use of mapbase===
-An example of using the graph point (in the apple_cherry_graph.xml loaded above) is the mission rule used on the cherry orchard mission:
+====The map====
   <rule name="cherryFull" run="false">