#include <fixed_front_cart_planner.h>
Public Member Functions | |
FixedFrontCartPlanner () | |
virtual | ~FixedFrontCartPlanner () |
Protected Types | |
enum | CONTROL_MODE { REGULAR, ROTATING_IN_PLACE, RECOVERY } |
enum | FILTER_OPTIONS { GLOBAL_SCALING = 0x1, CART_ERR_SCALING = GLOBAL_SCALING << 1, COMPENSATE_BASE_TWIST = GLOBAL_SCALING << 2, HOLONOMIC_CONSTRAINT = GLOBAL_SCALING << 3, ALL = 0xffff } |
Protected Member Functions | |
virtual void | controlModeAction () |
virtual void | filterTwistsCombined (int filter_options) |
virtual void | initialization_extras () |
A place to implement any additional initialization required for the planner. Gets called at the end of initialize(). | |
double | pointCartAtTarget (tf::Pose &point_pose) |
virtual void | setControlMode () |
Sets the internal control mode for the computeVelocityCommands switch. | |
Protected Attributes | |
double | cart_max_y_offset_ |
Maximum distance in y direction allowed for cart before we're in recovery mode. | |
enum CONTROL_MODE | control_mode_ |
CostmapTrajectoryChecker | extra_cart_collision_checker_ |
double | y_compensation_gain_ |
scalar to multiply y-error for adujusting yaw |
Definition at line 48 of file fixed_front_cart_planner.h.
enum cart_local_planner::FixedFrontCartPlanner::CONTROL_MODE [protected] |
Reimplemented from cart_local_planner::CartLocalPlanner.
Definition at line 90 of file fixed_front_cart_planner.h.
enum cart_local_planner::FixedFrontCartPlanner::FILTER_OPTIONS [protected] |
Reimplemented from cart_local_planner::CartLocalPlanner.
Definition at line 95 of file fixed_front_cart_planner.h.
cart_local_planner::FixedFrontCartPlanner::FixedFrontCartPlanner | ( | ) |
Definition at line 10 of file fixed_front_cart_planner.cpp.
cart_local_planner::FixedFrontCartPlanner::~FixedFrontCartPlanner | ( | ) | [virtual] |
Definition at line 14 of file fixed_front_cart_planner.cpp.
void cart_local_planner::FixedFrontCartPlanner::controlModeAction | ( | ) | [protected, virtual] |
Implements what to do during computeVelocityCommands for each control mode. This provides a greater degree of control than the default supported by the base_local_planner API, for problems such as rotating in place or evading collisions that the global planner doesn't know about (e.g. cart collisions).
Reimplemented from cart_local_planner::CartLocalPlanner.
Definition at line 40 of file fixed_front_cart_planner.cpp.
void cart_local_planner::FixedFrontCartPlanner::filterTwistsCombined | ( | int | filter_options | ) | [protected, virtual] |
Applies requested operations on the provided twists
filter_options | An int containing OR'ed together FILTER_OPTIONS |
Scale everything by its max;
Map base twist to cart and subtract it from cart twist (makes cart track better as base rounds corners)
Eliminate linear.y component of cart twist, and make up for it with angular.z
Scale base vel based on cart error (turns out to be a very handy trick for keeping the cart on track - this is basically a gaussian)
Reimplemented from cart_local_planner::CartLocalPlanner.
Definition at line 77 of file fixed_front_cart_planner.cpp.
void cart_local_planner::FixedFrontCartPlanner::initialization_extras | ( | ) | [protected, virtual] |
A place to implement any additional initialization required for the planner. Gets called at the end of initialize().
Reimplemented from cart_local_planner::CartLocalPlanner.
Definition at line 18 of file fixed_front_cart_planner.cpp.
double cart_local_planner::FixedFrontCartPlanner::pointCartAtTarget | ( | tf::Pose & | point_pose | ) | [protected] |
Compute the pose required to point
point_pose |
void cart_local_planner::FixedFrontCartPlanner::setControlMode | ( | ) | [protected, virtual] |
Sets the internal control mode for the computeVelocityCommands switch.
Reimplemented from cart_local_planner::CartLocalPlanner.
Definition at line 26 of file fixed_front_cart_planner.cpp.
double cart_local_planner::FixedFrontCartPlanner::cart_max_y_offset_ [protected] |
Maximum distance in y direction allowed for cart before we're in recovery mode.
Definition at line 103 of file fixed_front_cart_planner.h.
enum CONTROL_MODE cart_local_planner::FixedFrontCartPlanner::control_mode_ [protected] |
Reimplemented from cart_local_planner::CartLocalPlanner.
Definition at line 93 of file fixed_front_cart_planner.h.
CostmapTrajectoryChecker cart_local_planner::FixedFrontCartPlanner::extra_cart_collision_checker_ [protected] |
Definition at line 106 of file fixed_front_cart_planner.h.
double cart_local_planner::FixedFrontCartPlanner::y_compensation_gain_ [protected] |
scalar to multiply y-error for adujusting yaw
Definition at line 104 of file fixed_front_cart_planner.h.