anti_collision_base_controller::AntiCollisionBaseController Class Reference

Computes control velocities for a robot given a costmap, a plan, and the robot's position in the world. More...

#include <anti_collision_base_controller.h>

Public Member Functions
	AntiCollisionBaseController ()
	Constructs an anti-collision base controller.
void	joyCallBack (const geometry_msgs::TwistConstPtr &msg)
void	odomCallback (const nav_msgs::OdometryConstPtr &msg)
void	spin ()
	~AntiCollisionBaseController ()
	Destructs a trajectory controller.
Public Attributes
tf::TransformListener	tf_
Private Member Functions
double	computeNewThetaPosition (double thetai, double vth, double dt)
	Compute orientation based on velocity.
double	computeNewVelocity (double vg, double vi, double a_max, double dt)
	Compute velocity based on acceleration.
double	computeNewXPosition (double xi, double vx, double vy, double theta, double dt)
	Compute x position based on velocity.
double	computeNewYPosition (double yi, double vx, double vy, double theta, double dt)
	Compute y position based on velocity.
void	computeSafeVelocity (double x, double y, double theta, double vx_current, double vy_current, double vtheta_current, double vx_desired, double vy_desired, double vtheta_desired, double &vx_result, double &vy_result, double &vtheta_result)
double	footprintCost (double x_i, double y_i, double theta_i)
	Checks the legality of the robot footprint at a position and orientation using the world model.
bool	generateTrajectory (double x, double y, double theta, double vx, double vy, double vtheta, double vx_samp, double vy_samp, double vtheta_samp, double acc_x, double acc_y, double acc_theta, base_local_planner::Trajectory &traj, double sim_time_local)
	Generate and scor7e a single trajectory.
bool	getRobotPose (double &x, double &y, double &theta)
Private Attributes
double	acc_lim_theta_
	The acceleration limits of the robot.
double	acc_lim_x_
double	acc_lim_y_
ros::Publisher	base_cmd_pub_
	A publisher for base commands.
geometry_msgs::Twist	base_odom_
boost::mutex	base_odom_mutex_
double	circumscribed_radius_
double	controller_frequency_
costmap_2d::Costmap2D	costmap_
	Provides access to cost map information.
costmap_2d::Costmap2DROS *	costmap_ros_
std::vector< geometry_msgs::Point >	footprint_spec_
	The footprint specification of the robot.
std::string	global_frame_
double	inflation_radius_
	The inscribed and circumscribed radii of the robot.
double	inscribed_radius_
ros::Subscriber	joy_sub_
	A subscriber for commands from the joystick.
ros::Time	last_cmd_received_
double	max_vel_th_
double	max_vel_x_
double	min_in_place_vel_th_
	Velocity limits for the controller.
double	min_vel_cmd_theta_
double	min_vel_cmd_x_
double	min_vel_cmd_y_
double	min_vel_th_
double	min_vel_x_
ros::Subscriber	odom_sub_
	A subscriber for odometry messages.
std::string	robot_base_frame_
ros::NodeHandle	ros_node_
	A node handle to the ROS node.
double	sim_granularity_
	The distance between simulation points.
double	sim_time_
	The number of seconds each trajectory is "rolled-out".
trajectory::Trajectory *	sim_trajectory_
double	timeout_
geometry_msgs::Twist	vel_desired_
boost::mutex	vel_desired_mutex_
int	vtheta_samples_
	The number of samples we'll take in the theta dimension of the control space.
int	vx_samples_
	The number of samples we'll take in the x dimenstion of the control space.
base_local_planner::WorldModel *	world_model_
	The world model that the controller will use.

Detailed Description

Computes control velocities for a robot given a costmap, a plan, and the robot's position in the world.

Definition at line 70 of file anti_collision_base_controller.h.

Constructor & Destructor Documentation

anti_collision_base_controller::AntiCollisionBaseController::AntiCollisionBaseController ( )

Constructs an anti-collision base controller.

Definition at line 46 of file anti_collision_base_controller.cpp.

anti_collision_base_controller::AntiCollisionBaseController::~AntiCollisionBaseController ( )

Destructs a trajectory controller.

Definition at line 113 of file anti_collision_base_controller.cpp.

Member Function Documentation

double anti_collision_base_controller::AntiCollisionBaseController::computeNewThetaPosition	(	double	thetai,
		double	vth,
		double	dt
	)			`[inline, private]`

Compute orientation based on velocity.

Parameters:

	thetai	The current orientation
	vth	The current theta velocity
	dt	The timestep to take

Returns:: The new orientation

Definition at line 176 of file anti_collision_base_controller.h.

double anti_collision_base_controller::AntiCollisionBaseController::computeNewVelocity	(	double	vg,
		double	vi,
		double	a_max,
		double	dt
	)			`[inline, private]`

Compute velocity based on acceleration.

Parameters:

	vg	The desired velocity, what we're accelerating up to
	vi	The current velocity
	a_max	An acceleration limit
	dt	The timestep to take

Returns:: The new velocity

Definition at line 189 of file anti_collision_base_controller.h.

double anti_collision_base_controller::AntiCollisionBaseController::computeNewXPosition	(	double	xi,
		double	vx,
		double	vy,
		double	theta,
		double	dt
	)			`[inline, private]`

Compute x position based on velocity.

Parameters:

	xi	The current x position
	vx	The current x velocity
	vy	The current y velocity
	theta	The current orientation
	dt	The timestep to take

Returns:: The new x position

Definition at line 152 of file anti_collision_base_controller.h.

double anti_collision_base_controller::AntiCollisionBaseController::computeNewYPosition	(	double	yi,
		double	vx,
		double	vy,
		double	theta,
		double	dt
	)			`[inline, private]`

Compute y position based on velocity.

Parameters:

	yi	The current y position
	vx	The current x velocity
	vy	The current y velocity
	theta	The current orientation
	dt	The timestep to take

Returns:: The new y position

Definition at line 165 of file anti_collision_base_controller.h.

void anti_collision_base_controller::AntiCollisionBaseController::computeSafeVelocity	(	double	x,
		double	y,
		double	theta,
		double	vx_current,
		double	vy_current,
		double	vtheta_current,
		double	vx_desired,
		double	vy_desired,
		double	vtheta_desired,
		double &	vx_result,
		double &	vy_result,
		double &	vtheta_result
	)			`[private]`

Definition at line 264 of file anti_collision_base_controller.cpp.

double anti_collision_base_controller::AntiCollisionBaseController::footprintCost	(	double	x_i,
		double	y_i,
		double	theta_i
	)			`[private]`

Checks the legality of the robot footprint at a position and orientation using the world model.

Parameters:

	x_i	The x position of the robot
	y_i	The y position of the robot
	theta_i	The orientation of the robot

Returns:

Definition at line 237 of file anti_collision_base_controller.cpp.

bool anti_collision_base_controller::AntiCollisionBaseController::generateTrajectory	(	double	x,
		double	y,
		double	theta,
		double	vx,
		double	vy,
		double	vtheta,
		double	vx_samp,
		double	vy_samp,
		double	vtheta_samp,
		double	acc_x,
		double	acc_y,
		double	acc_theta,
		base_local_planner::Trajectory &	traj,
		double	sim_time_local
	)			`[private]`

Generate and scor7e a single trajectory.

Parameters:

	x	The x position of the robot
	y	The y position of the robot
	theta	The orientation of the robot
	vx	The x velocity of the robot
	vy	The y velocity of the robot
	vtheta	The theta velocity of the robot
	vx_samp	The x velocity used to seed the trajectory
	vy_samp	The y velocity used to seed the trajectory
	vtheta_samp	The theta velocity used to seed the trajectory
	acc_x	The x acceleration limit of the robot
	acc_y	The y acceleration limit of the robot
	acc_theta	The theta acceleration limit of the robot
	traj	Will be set to the generated trajectory with its associated score
	sim_time_local	The time to simulate forward for