Public Member Functions | Private Member Functions | Private Attributes
base_local_planner::TrajectoryPlannerROS Class Reference

A ROS wrapper for the trajectory controller that queries the param server to construct a controller. More...

#include <trajectory_planner_ros.h>

Inheritance diagram for base_local_planner::TrajectoryPlannerROS:
Inheritance graph
[legend]

List of all members.

Public Member Functions

bool checkTrajectory (double vx_samp, double vy_samp, double vtheta_samp, bool update_map=true)
 Generate and score a single trajectory.
bool computeVelocityCommands (geometry_msgs::Twist &cmd_vel)
 Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.
void initialize (std::string name, tf::TransformListener *tf, costmap_2d::Costmap2DROS *costmap_ros)
 Constructs the ros wrapper.
bool isGoalReached ()
 Check if the goal pose has been achieved.
double scoreTrajectory (double vx_samp, double vy_samp, double vtheta_samp, bool update_map=true)
 Generate and score a single trajectory.
bool setPlan (const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)
 Set the plan that the controller is following.
 TrajectoryPlannerROS ()
 Default constructor for the ros wrapper.
 TrajectoryPlannerROS (std::string name, tf::TransformListener *tf, costmap_2d::Costmap2DROS *costmap_ros)
 Constructs the ros wrapper.
 ~TrajectoryPlannerROS ()
 Destructor for the wrapper.

Private Member Functions

std::vector< double > loadYVels (ros::NodeHandle node)
void odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
void reconfigureCB (BaseLocalPlannerConfig &config, uint32_t level)
 Callback for dynamic_reconfigure.
bool rotateToGoal (const tf::Stamped< tf::Pose > &global_pose, const tf::Stamped< tf::Pose > &robot_vel, double goal_th, geometry_msgs::Twist &cmd_vel)
 Once a goal position is reached... rotate to the goal orientation.
double sign (double x)
bool stopWithAccLimits (const tf::Stamped< tf::Pose > &global_pose, const tf::Stamped< tf::Pose > &robot_vel, geometry_msgs::Twist &cmd_vel)
 Stop the robot taking into account acceleration limits.

Private Attributes

double acc_lim_theta_
double acc_lim_x_
double acc_lim_y_
nav_msgs::Odometry base_odom_
 Used to get the velocity of the robot.
costmap_2d::Costmap2D costmap_
 The costmap the controller will use.
costmap_2d::Costmap2DROScostmap_ros_
 The ROS wrapper for the costmap the controller will use.
base_local_planner::BaseLocalPlannerConfig default_config_
dynamic_reconfigure::Server
< BaseLocalPlannerConfig > * 
dsrv_
ros::Publisher g_plan_pub_
std::string global_frame_
 The frame in which the controller will run.
std::vector
< geometry_msgs::PoseStamped > 
global_plan_
double inflation_radius_
bool initialized_
ros::Publisher l_plan_pub_
bool latch_xy_goal_tolerance_
MapGridVisualizer map_viz_
 The map grid visualizer for outputting the potential field generated by the cost function.
double max_sensor_range_
 Keep track of the effective maximum range of our sensors.
double max_vel_th_
double min_in_place_vel_th_
double min_vel_th_
boost::recursive_mutex odom_lock_
ros::Subscriber odom_sub_
bool prune_plan_
std::string robot_base_frame_
 Used as the base frame id of the robot.
double rot_stopped_velocity_
bool rotating_to_goal_
bool setup_
double sim_period_
TrajectoryPlannertc_
 The trajectory controller.
tf::TransformListenertf_
 Used for transforming point clouds.
double trans_stopped_velocity_
WorldModelworld_model_
 The world model that the controller will use.
double xy_goal_tolerance_
bool xy_tolerance_latch_
double yaw_goal_tolerance_

Detailed Description

A ROS wrapper for the trajectory controller that queries the param server to construct a controller.

Definition at line 78 of file trajectory_planner_ros.h.


Constructor & Destructor Documentation

Default constructor for the ros wrapper.

Definition at line 71 of file trajectory_planner_ros.cpp.

Constructs the ros wrapper.

Parameters:
nameThe name to give this instance of the trajectory planner
tfA pointer to a transform listener
costmapThe cost map to use for assigning costs to trajectories

Definition at line 73 of file trajectory_planner_ros.cpp.

Destructor for the wrapper.

Definition at line 263 of file trajectory_planner_ros.cpp.


Member Function Documentation

bool base_local_planner::TrajectoryPlannerROS::checkTrajectory ( double  vx_samp,
double  vy_samp,
double  vtheta_samp,
bool  update_map = true 
)

Generate and score a single trajectory.

Parameters:
vx_sampThe x velocity used to seed the trajectory
vy_sampThe y velocity used to seed the trajectory
vtheta_sampThe theta velocity used to seed the trajectory
update_mapWhether or not to update the map for the planner when computing the legality of the trajectory, this is useful to set to false if you're going to be doing a lot of trajectory checking over a short period of time
Returns:
True if the trajectory is legal, false otherwise

Definition at line 532 of file trajectory_planner_ros.cpp.

bool base_local_planner::TrajectoryPlannerROS::computeVelocityCommands ( geometry_msgs::Twist &  cmd_vel) [virtual]

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.

Parameters:
cmd_velWill be filled with the velocity command to be passed to the robot base
Returns:
True if a valid trajectory was found, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 367 of file trajectory_planner_ros.cpp.

void base_local_planner::TrajectoryPlannerROS::initialize ( std::string  name,
tf::TransformListener tf,
costmap_2d::Costmap2DROS costmap_ros 
) [virtual]

Constructs the ros wrapper.

Parameters:
nameThe name to give this instance of the trajectory planner
tfA pointer to a transform listener
costmapThe cost map to use for assigning costs to trajectories

Implements nav_core::BaseLocalPlanner.

Definition at line 80 of file trajectory_planner_ros.cpp.

Check if the goal pose has been achieved.

Returns:
True if achieved, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 606 of file trajectory_planner_ros.cpp.

std::vector< double > base_local_planner::TrajectoryPlannerROS::loadYVels ( ros::NodeHandle  node) [private]

Definition at line 239 of file trajectory_planner_ros.cpp.

void base_local_planner::TrajectoryPlannerROS::odomCallback ( const nav_msgs::Odometry::ConstPtr &  msg) [private]

Definition at line 341 of file trajectory_planner_ros.cpp.

void base_local_planner::TrajectoryPlannerROS::reconfigureCB ( BaseLocalPlannerConfig &  config,
uint32_t  level 
) [private]

Callback for dynamic_reconfigure.

Definition at line 56 of file trajectory_planner_ros.cpp.

bool base_local_planner::TrajectoryPlannerROS::rotateToGoal ( const tf::Stamped< tf::Pose > &  global_pose,
const tf::Stamped< tf::Pose > &  robot_vel,
double  goal_th,
geometry_msgs::Twist &  cmd_vel 
) [private]

Once a goal position is reached... rotate to the goal orientation.

Parameters:
global_poseThe pose of the robot in the global frame
robot_velThe velocity of the robot
goal_thThe desired th value for the goal
cmd_velThe velocity commands to be filled
Returns:
True if a valid trajectory was found, false otherwise

Definition at line 303 of file trajectory_planner_ros.cpp.

double base_local_planner::TrajectoryPlannerROS::scoreTrajectory ( double  vx_samp,
double  vy_samp,
double  vtheta_samp,
bool  update_map = true 
)

Generate and score a single trajectory.

Parameters:
vx_sampThe x velocity used to seed the trajectory
vy_sampThe y velocity used to seed the trajectory
vtheta_sampThe theta velocity used to seed the trajectory
update_mapWhether or not to update the map for the planner when computing the legality of the trajectory, this is useful to set to false if you're going to be doing a lot of trajectory checking over a short period of time
Returns:
score of trajectory (double)

Definition at line 569 of file trajectory_planner_ros.cpp.

bool base_local_planner::TrajectoryPlannerROS::setPlan ( const std::vector< geometry_msgs::PoseStamped > &  orig_global_plan) [virtual]

Set the plan that the controller is following.

Parameters:
orig_global_planThe plan to pass to the controller
Returns:
True if the plan was updated successfully, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 351 of file trajectory_planner_ros.cpp.

double base_local_planner::TrajectoryPlannerROS::sign ( double  x) [inline, private]

Definition at line 183 of file trajectory_planner_ros.h.

bool base_local_planner::TrajectoryPlannerROS::stopWithAccLimits ( const tf::Stamped< tf::Pose > &  global_pose,
const tf::Stamped< tf::Pose > &  robot_vel,
geometry_msgs::Twist &  cmd_vel 
) [private]

Stop the robot taking into account acceleration limits.

Parameters:
global_poseThe pose of the robot in the global frame
robot_velThe velocity of the robot
cmd_velThe velocity commands to be filled
Returns:
True if a valid trajectory was found, false otherwise

Definition at line 274 of file trajectory_planner_ros.cpp.


Member Data Documentation

Definition at line 207 of file trajectory_planner_ros.h.

Definition at line 207 of file trajectory_planner_ros.h.

Definition at line 207 of file trajectory_planner_ros.h.

Used to get the velocity of the robot.

Definition at line 195 of file trajectory_planner_ros.h.

The costmap the controller will use.

Definition at line 190 of file trajectory_planner_ros.h.

The ROS wrapper for the costmap the controller will use.

Definition at line 189 of file trajectory_planner_ros.h.

base_local_planner::BaseLocalPlannerConfig base_local_planner::TrajectoryPlannerROS::default_config_ [private]

Definition at line 212 of file trajectory_planner_ros.h.

dynamic_reconfigure::Server<BaseLocalPlannerConfig>* base_local_planner::TrajectoryPlannerROS::dsrv_ [private]

Definition at line 211 of file trajectory_planner_ros.h.

Definition at line 202 of file trajectory_planner_ros.h.

The frame in which the controller will run.

Definition at line 193 of file trajectory_planner_ros.h.

std::vector<geometry_msgs::PoseStamped> base_local_planner::TrajectoryPlannerROS::global_plan_ [private]

Definition at line 200 of file trajectory_planner_ros.h.

Definition at line 199 of file trajectory_planner_ros.h.

Definition at line 205 of file trajectory_planner_ros.h.

Definition at line 202 of file trajectory_planner_ros.h.

Definition at line 210 of file trajectory_planner_ros.h.

The map grid visualizer for outputting the potential field generated by the cost function.

Definition at line 191 of file trajectory_planner_ros.h.

Keep track of the effective maximum range of our sensors.

Definition at line 194 of file trajectory_planner_ros.h.

Definition at line 206 of file trajectory_planner_ros.h.

Definition at line 198 of file trajectory_planner_ros.h.

Definition at line 206 of file trajectory_planner_ros.h.

boost::recursive_mutex base_local_planner::TrajectoryPlannerROS::odom_lock_ [private]

Definition at line 204 of file trajectory_planner_ros.h.

Definition at line 203 of file trajectory_planner_ros.h.

Definition at line 201 of file trajectory_planner_ros.h.

Used as the base frame id of the robot.

Definition at line 196 of file trajectory_planner_ros.h.

Definition at line 197 of file trajectory_planner_ros.h.

Definition at line 209 of file trajectory_planner_ros.h.

Definition at line 213 of file trajectory_planner_ros.h.

Definition at line 208 of file trajectory_planner_ros.h.

The trajectory controller.

Definition at line 188 of file trajectory_planner_ros.h.

Used for transforming point clouds.

Definition at line 192 of file trajectory_planner_ros.h.

Definition at line 197 of file trajectory_planner_ros.h.

The world model that the controller will use.

Definition at line 187 of file trajectory_planner_ros.h.

Definition at line 198 of file trajectory_planner_ros.h.

Definition at line 210 of file trajectory_planner_ros.h.

Definition at line 198 of file trajectory_planner_ros.h.


The documentation for this class was generated from the following files:


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko
autogenerated on Sat Dec 28 2013 17:13:51