#include <collvoid_local_planner.h>

Inheritance diagram for collvoid_local_planner::CollvoidLocalPlanner:

Public Member Functions
	CollvoidLocalPlanner ()
	CollvoidLocalPlanner (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS costmap_ros)
bool	computeVelocityCommands (geometry_msgs::Twist &cmd_vel)
void	initialize (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS costmap_ros)
bool	isGoalReached ()
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &global_plan)
	~CollvoidLocalPlanner ()
Private Member Functions
void	findBestWaypoint (geometry_msgs::PoseStamped &target_pose, const tf::Stamped< tf::Pose > &global_pose)
void	obstaclesCallback (const nav_msgs::GridCells::ConstPtr &msg)
void	reconfigureCB (collvoid_local_planner::CollvoidConfig &config, uint32_t level)
bool	rotateToGoal (const tf::Stamped< tf::Pose > &global_pose, const tf::Stamped< tf::Pose > &robot_vel, double goal_th, geometry_msgs::Twist &cmd_vel)
bool	stopWithAccLimits (const tf::Stamped< tf::Pose > &global_pose, const tf::Stamped< tf::Pose > &robot_vel, geometry_msgs::Twist &cmd_vel)
bool	transformGlobalPlan (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const costmap_2d::Costmap2DROS &costmap, const std::string &global_frame, std::vector< geometry_msgs::PoseStamped > &transformed_plan)
Private Attributes
double	acc_lim_th_
double	acc_lim_x_
double	acc_lim_y_
boost::recursive_mutex	configuration_mutex_
costmap_2d::Costmap2DROS *	costmap_ros_
unsigned int	current_waypoint_
collvoid_local_planner::CollvoidConfig	default_config_
bool	delete_observations_
dynamic_reconfigure::Server < collvoid_local_planner::CollvoidConfig > *	dsrv_
double	eps_
ros::Publisher	g_plan_pub_
std::string	global_frame_
	The frame in which the controller will run.
std::vector < geometry_msgs::PoseStamped >	global_plan_
bool	holo_robot_
bool	ignore_goal_yaw_
bool	initialized_
ros::Publisher	l_plan_pub_
collvoid_local_planner::CollvoidConfig	last_config_
bool	latch_xy_goal_tolerance_
double	left_pref_
double	max_error_holo_
double	max_vel_th_
double	max_vel_with_obstacles_
double	max_vel_x_
double	max_vel_y_
ROSAgentPtr	me_
double	min_error_holo_
double	min_vel_th_
double	min_vel_th_inplace_
double	min_vel_x_
double	min_vel_y_
ros::Subscriber	obstacles_sub_
double	publish_me_period_
double	publish_positions_period_
double	radius_
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_
bool	skip_next_
tf::TransformListener *	tf_
double	threshold_last_seen_
double	time_horizon_obst_
double	time_to_holo_
double	trans_stopped_velocity_
std::vector < geometry_msgs::PoseStamped >	transformed_plan_
double	trunc_time_
double	wheel_base_
double	xy_goal_tolerance_
bool	xy_tolerance_latch_
double	yaw_goal_tolerance_

Detailed Description

Definition at line 52 of file collvoid_local_planner.h.

Constructor & Destructor Documentation

collvoid_local_planner::CollvoidLocalPlanner::CollvoidLocalPlanner ( )

Definition at line 64 of file collvoid_local_planner.cpp.

collvoid_local_planner::CollvoidLocalPlanner::CollvoidLocalPlanner	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Definition at line 68 of file collvoid_local_planner.cpp.

collvoid_local_planner::CollvoidLocalPlanner::~CollvoidLocalPlanner ( )

Definition at line 75 of file collvoid_local_planner.cpp.

Member Function Documentation

bool collvoid_local_planner::CollvoidLocalPlanner::computeVelocityCommands ( geometry_msgs::Twist & cmd_vel ) [virtual]

Implements nav_core::BaseLocalPlanner.

Definition at line 490 of file collvoid_local_planner.cpp.

void collvoid_local_planner::CollvoidLocalPlanner::findBestWaypoint	(	geometry_msgs::PoseStamped &	target_pose,
		const tf::Stamped< tf::Pose > &	global_pose
	)		`[private]`

Definition at line 662 of file collvoid_local_planner.cpp.

void collvoid_local_planner::CollvoidLocalPlanner::initialize	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)		`[virtual]`

Implements nav_core::BaseLocalPlanner.

Definition at line 79 of file collvoid_local_planner.cpp.

bool collvoid_local_planner::CollvoidLocalPlanner::isGoalReached ( ) [virtual]

Implements nav_core::BaseLocalPlanner.

Definition at line 471 of file collvoid_local_planner.cpp.

void collvoid_local_planner::CollvoidLocalPlanner::obstaclesCallback ( const nav_msgs::GridCells::ConstPtr & msg ) [private]

Definition at line 805 of file collvoid_local_planner.cpp.

void collvoid_local_planner::CollvoidLocalPlanner::odomCallback ( const nav_msgs::Odometry::ConstPtr & msg )

void collvoid_local_planner::CollvoidLocalPlanner::reconfigureCB	(	collvoid_local_planner::CollvoidConfig &	config,
		uint32_t	level
	)		`[private]`

Definition at line 283 of file collvoid_local_planner.cpp.

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

Definition at line 368 of file collvoid_local_planner.cpp.

bool collvoid_local_planner::CollvoidLocalPlanner::setPlan ( const std::vector< geometry_msgs::PoseStamped > & global_plan ) [virtual]

Implements nav_core::BaseLocalPlanner.

Definition at line 450 of file collvoid_local_planner.cpp.

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

Definition at line 411 of file collvoid_local_planner.cpp.

bool collvoid_local_planner::CollvoidLocalPlanner::transformGlobalPlan	(	const tf::TransformListener &	tf,
		const std::vector< geometry_msgs::PoseStamped > &	global_plan,
		const costmap_2d::Costmap2DROS &	costmap,
		const std::string &	global_frame,
		std::vector< geometry_msgs::PoseStamped > &	transformed_plan
	)		`[private]`