#include <holonomic_cart_planner.h>
Public Member Functions | |
| HolonomicCartPlanner () | |
| virtual | ~HolonomicCartPlanner () |
Protected Types | |
| enum | CONTROL_MODE { REGULAR, ROTATING_IN_PLACE, RECOVERY, PULLING_ARMS_IN } |
| enum | FILTER_OPTIONS { GLOBAL_SCALING = 0x1, CART_ERR_SCALING = GLOBAL_SCALING << 1, COMPENSATE_BASE_TWIST = GLOBAL_SCALING << 2, 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(). | |
| virtual void | setControlMode () |
| Sets the internal control mode for the computeVelocityCommands switch. | |
Protected Attributes | |
| enum CONTROL_MODE | control_mode_ |
Definition at line 49 of file holonomic_cart_planner.h.
enum cart_local_planner::HolonomicCartPlanner::CONTROL_MODE [protected] |
Reimplemented from cart_local_planner::CartLocalPlanner.
Definition at line 86 of file holonomic_cart_planner.h.
enum cart_local_planner::HolonomicCartPlanner::FILTER_OPTIONS [protected] |
Reimplemented from cart_local_planner::CartLocalPlanner.
Definition at line 91 of file holonomic_cart_planner.h.
| cart_local_planner::HolonomicCartPlanner::HolonomicCartPlanner | ( | ) |
Definition at line 11 of file holonomic_cart_planner.cpp.
| cart_local_planner::HolonomicCartPlanner::~HolonomicCartPlanner | ( | ) | [virtual] |
Definition at line 19 of file holonomic_cart_planner.cpp.
| void cart_local_planner::HolonomicCartPlanner::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 36 of file holonomic_cart_planner.cpp.
| void cart_local_planner::HolonomicCartPlanner::filterTwistsCombined | ( | int | filter_options | ) | [protected, virtual] |
Applies requested operations on the provided twists
| filter_options | An int containing OR'ed together FILTER_OPTIONS |
1: Scale everything by its max;
2: 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)
3: Map base twist to cart and subtract it from cart twist (makes cart track better as base rounds corners)
4: Scale everything by its max;
Reimplemented from cart_local_planner::CartLocalPlanner.
Definition at line 95 of file holonomic_cart_planner.cpp.
| void cart_local_planner::HolonomicCartPlanner::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 15 of file holonomic_cart_planner.cpp.
| void cart_local_planner::HolonomicCartPlanner::setControlMode | ( | ) | [protected, virtual] |
Sets the internal control mode for the computeVelocityCommands switch.
Reimplemented from cart_local_planner::CartLocalPlanner.
Definition at line 22 of file holonomic_cart_planner.cpp.
enum CONTROL_MODE cart_local_planner::HolonomicCartPlanner::control_mode_ [protected] |
Reimplemented from cart_local_planner::CartLocalPlanner.
Definition at line 89 of file holonomic_cart_planner.h.
