rotate_recovery.h
Go to the documentation of this file.00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #ifndef ROTATE_RECOVERY_H_ 00038 #define ROTATE_RECOVERY_H_ 00039 #include <nav_core/recovery_behavior.h> 00040 #include <costmap_2d/costmap_2d_ros.h> 00041 #include <tf/transform_listener.h> 00042 #include <ros/ros.h> 00043 #include <base_local_planner/costmap_model.h> 00044 #include <geometry_msgs/Twist.h> 00045 #include <geometry_msgs/Point.h> 00046 #include <angles/angles.h> 00047 00048 namespace rotate_recovery{ 00053 class RotateRecovery : public nav_core::RecoveryBehavior { 00054 public: 00060 RotateRecovery(); 00061 00068 void initialize(std::string name, tf::TransformListener* tf, 00069 costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap); 00070 00074 void runBehavior(); 00075 00079 ~RotateRecovery(); 00080 00081 private: 00082 costmap_2d::Costmap2DROS* global_costmap_, *local_costmap_; 00083 costmap_2d::Costmap2D costmap_; 00084 std::string name_; 00085 tf::TransformListener* tf_; 00086 bool initialized_; 00087 double sim_granularity_, min_rotational_vel_, max_rotational_vel_, acc_lim_th_, tolerance_, frequency_; 00088 base_local_planner::CostmapModel* world_model_; 00089 }; 00090 }; 00091 #endif