twist_recovery::TwistRecovery Class Reference

#include <twist_recovery.h>

List of all members.

Public Member Functions

void initialize (std::string n, tf::TransformListener *tf, costmap_2d::Costmap2DROS *global_costmap, costmap_2d::Costmap2DROS *local_costmap)
 Initialize the parameters of the behavior.
void runBehavior ()
 Run the behavior.
 TwistRecovery ()
 Doesn't do anything: initialize is where the actual work happens.
 ~TwistRecovery ()

Private Member Functions

geometry_msgs::Pose2D getCurrentLocalPose () const
double nonincreasingCostInterval (const geometry_msgs::Pose2D &current, const geometry_msgs::Twist &twist) const
double normalizedPoseCost (const geometry_msgs::Pose2D &pose) const
geometry_msgs::Twist scaleGivenAccelerationLimits (const geometry_msgs::Twist &twist, const double time_remaining) const
geometry_msgs::Twist transformTwist (const geometry_msgs::Pose2D &pose) const

Private Attributes

double angular_acceleration_limit_
double angular_speed_limit_
geometry_msgs::Twist base_frame_twist_
double controller_frequency_
costmap_2d::Costmap2D costmap_
double duration_
costmap_2d::Costmap2DROS * global_costmap_
bool initialized_
double linear_acceleration_limit_
double linear_speed_limit_
costmap_2d::Costmap2DROS * local_costmap_
std::string name_
ros::NodeHandle nh_
ros::Publisher pub_
double simulation_inc_
tf::TransformListener * tf_
base_local_planner::CostmapModel * world_model_

Detailed Description

Recovery behavior that takes a given twist and tries to execute it for up to d seconds, or until reaching an obstacle.

Definition at line 50 of file twist_recovery.h.

Constructor & Destructor Documentation

twist_recovery::TwistRecovery::TwistRecovery (  ) 

Doesn't do anything: initialize is where the actual work happens.

Definition at line 55 of file twist_recovery.cpp.

twist_recovery::TwistRecovery::~TwistRecovery (  ) 

Definition at line 59 of file twist_recovery.cpp.

Member Function Documentation

gm::Pose2D twist_recovery::TwistRecovery::getCurrentLocalPose (  )  const [private]

Definition at line 181 of file twist_recovery.cpp.

void twist_recovery::TwistRecovery::initialize ( std::string  n,
tf::TransformListener *  tf,
costmap_2d::Costmap2DROS *  global_costmap,
costmap_2d::Costmap2DROS *  local_costmap 

Initialize the parameters of the behavior.

double twist_recovery::TwistRecovery::nonincreasingCostInterval ( const geometry_msgs::Pose2D &  current,
const geometry_msgs::Twist &  twist 
) const [private]
double twist_recovery::TwistRecovery::normalizedPoseCost ( const geometry_msgs::Pose2D &  pose  )  const [private]
void twist_recovery::TwistRecovery::runBehavior (  ) 

Run the behavior.

Definition at line 192 of file twist_recovery.cpp.

geometry_msgs::Twist twist_recovery::TwistRecovery::scaleGivenAccelerationLimits ( const geometry_msgs::Twist &  twist,
const double  time_remaining 
) const [private]
geometry_msgs::Twist twist_recovery::TwistRecovery::transformTwist ( const geometry_msgs::Pose2D &  pose  )  const [private]

Member Data Documentation

Definition at line 89 of file twist_recovery.h.

Definition at line 87 of file twist_recovery.h.

geometry_msgs::Twist twist_recovery::TwistRecovery::base_frame_twist_ [private]

Definition at line 83 of file twist_recovery.h.

Definition at line 90 of file twist_recovery.h.

costmap_2d::Costmap2D twist_recovery::TwistRecovery::costmap_ [private]

Definition at line 73 of file twist_recovery.h.

Definition at line 85 of file twist_recovery.h.

costmap_2d::Costmap2DROS* twist_recovery::TwistRecovery::global_costmap_ [private]

Definition at line 71 of file twist_recovery.h.

Definition at line 77 of file twist_recovery.h.

Definition at line 88 of file twist_recovery.h.

Definition at line 86 of file twist_recovery.h.

costmap_2d::Costmap2DROS* twist_recovery::TwistRecovery::local_costmap_ [private]

Definition at line 72 of file twist_recovery.h.

std::string twist_recovery::TwistRecovery::name_ [private]

Definition at line 74 of file twist_recovery.h.

ros::NodeHandle twist_recovery::TwistRecovery::nh_ [private]

Definition at line 70 of file twist_recovery.h.

ros::Publisher twist_recovery::TwistRecovery::pub_ [private]

Definition at line 76 of file twist_recovery.h.

Definition at line 91 of file twist_recovery.h.

tf::TransformListener* twist_recovery::TwistRecovery::tf_ [private]

Definition at line 75 of file twist_recovery.h.

base_local_planner::CostmapModel* twist_recovery::TwistRecovery::world_model_ [mutable, private]

Definition at line 81 of file twist_recovery.h.

The documentation for this class was generated from the following files:
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Author(s): Bhaskara Marthi
autogenerated on Fri Jan 11 10:06:25 2013