cart_local_planner: holonomic_cart

00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2008, Willow Garage, Inc.
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00007  *  Redistribution and use in source and binary forms, with or without
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00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
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00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 
00042 #ifndef HOLONOMIC_CART_PLANNER_H_
00043 #define HOLONOMIC_CART_PLANNER_H_
00044 
00045 #include "cart_local_planner/cart_local_planner.h"
00046 
00047 namespace cart_local_planner {
00048 
00049 class HolonomicCartPlanner: public CartLocalPlanner {
00050 public:
00051         HolonomicCartPlanner();
00052         virtual ~HolonomicCartPlanner();
00053 
00054 protected:
00059         virtual void initialization_extras();
00060 
00061         /************
00062          * PLANNING *
00063          ************/
00067         virtual void setControlMode();
00068 
00075         virtual void controlModeAction();
00076 
00081         virtual void filterTwistsCombined(int filter_options);
00082 
00083         /****************
00084          * DATA MEMBERS *
00085          ****************/
00086         enum CONTROL_MODE {
00087           REGULAR, ROTATING_IN_PLACE, RECOVERY, PULLING_ARMS_IN
00088         };
00089         enum CONTROL_MODE control_mode_;
00090 
00091         enum FILTER_OPTIONS {
00092                 GLOBAL_SCALING = 0x1,
00093                 CART_ERR_SCALING = GLOBAL_SCALING << 1,
00094                 COMPENSATE_BASE_TWIST = GLOBAL_SCALING << 2,
00095                 ALL = 0xffff
00096         };
00097 
00098 };
00099 
00100 }
00101 ; // namespace cart_local_planner
00102 
00103 #endif /* HOLONOMIC_CART_PLANNER_H_ */
holonomic_cart_planner.h
