Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes
cart_local_planner::FixedFrontCartPlanner Class Reference

#include <fixed_front_cart_planner.h>

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

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

Enumerator:
REGULAR 
ROTATING_IN_PLACE 
RECOVERY 

Reimplemented from cart_local_planner::CartLocalPlanner.

Definition at line 136 of file fixed_front_cart_planner.h.

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

Definition at line 14 of file fixed_front_cart_planner.cpp.

Definition at line 18 of file fixed_front_cart_planner.cpp.


Member Function Documentation

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_optionsAn 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.

Definition at line 81 of file fixed_front_cart_planner.cpp.

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 22 of file fixed_front_cart_planner.cpp.

Compute the pose required to point

Parameters:
point_pose
Returns:

Sets the internal control mode for the computeVelocityCommands switch.

Reimplemented from cart_local_planner::CartLocalPlanner.

Definition at line 30 of file fixed_front_cart_planner.cpp.


Member Data Documentation

Maximum distance in y direction allowed for cart before we're in recovery mode.

Definition at line 149 of file fixed_front_cart_planner.h.

Reimplemented from cart_local_planner::CartLocalPlanner.

Definition at line 139 of file fixed_front_cart_planner.h.

Definition at line 152 of file fixed_front_cart_planner.h.

scalar to multiply y-error for adujusting yaw

Definition at line 150 of file fixed_front_cart_planner.h.


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


cart_local_planner
Author(s): Jonathan Scholz
autogenerated on Tue Jan 7 2014 11:11:33