cart_local_planner::FixedFrontCartPlanner Class Reference

#include <fixed_front_cart_planner.h>

Inheritance diagram for cart_local_planner::FixedFrontCartPlanner:

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

Detailed Description

Definition at line 92 of file fixed_front_cart_planner.h.

Member Enumeration Documentation

enum cart_local_planner::FixedFrontCartPlanner::CONTROL_MODE [protected]

Enumerator:

REGULAR
ROTATING_IN_PLACE
RECOVERY

Reimplemented from cart_local_planner::CartLocalPlanner.

Definition at line 136 of file fixed_front_cart_planner.h.

enum cart_local_planner::FixedFrontCartPlanner::FILTER_OPTIONS [protected]

Enumerator:

GLOBAL_SCALING
CART_ERR_SCALING
COMPENSATE_BASE_TWIST
HOLONOMIC_CONSTRAINT
ALL

Reimplemented from cart_local_planner::CartLocalPlanner.

Definition at line 141 of file fixed_front_cart_planner.h.

Constructor & Destructor Documentation

cart_local_planner::FixedFrontCartPlanner::FixedFrontCartPlanner ( )

Definition at line 14 of file fixed_front_cart_planner.cpp.

cart_local_planner::FixedFrontCartPlanner::~FixedFrontCartPlanner ( ) [virtual]

Definition at line 18 of file fixed_front_cart_planner.cpp.

Member Function Documentation

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 44 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

Parameters:

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.