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cart_local_planner::HolonomicCartPlanner Class Reference

#include <holonomic_cart_planner.h>

Inheritance diagram for cart_local_planner::HolonomicCartPlanner:
Inheritance graph
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List of all members.

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_

Detailed Description

Definition at line 49 of file holonomic_cart_planner.h.


Member Enumeration Documentation

Enumerator:
REGULAR 
ROTATING_IN_PLACE 
RECOVERY 
PULLING_ARMS_IN 

Reimplemented from cart_local_planner::CartLocalPlanner.

Definition at line 86 of file holonomic_cart_planner.h.

Enumerator:
GLOBAL_SCALING 
CART_ERR_SCALING 
COMPENSATE_BASE_TWIST 
ALL 

Reimplemented from cart_local_planner::CartLocalPlanner.

Definition at line 91 of file holonomic_cart_planner.h.


Constructor & Destructor Documentation

cart_local_planner::HolonomicCartPlanner::HolonomicCartPlanner (  ) 

Definition at line 15 of file holonomic_cart_planner.cpp.

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

Definition at line 23 of file holonomic_cart_planner.cpp.


Member Function Documentation

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 40 of file holonomic_cart_planner.cpp.

void cart_local_planner::HolonomicCartPlanner::filterTwistsCombined ( int  filter_options  )  [protected, virtual]

Applies requested operations on the provided twists

Parameters:
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 99 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 19 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 26 of file holonomic_cart_planner.cpp.


Member Data Documentation

Reimplemented from cart_local_planner::CartLocalPlanner.

Definition at line 89 of file holonomic_cart_planner.h.


The documentation for this class was generated from the following files:
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cart_local_planner
Author(s): Jonathan Scholz
autogenerated on Fri Mar 1 15:05:26 2013