Namespaces
namespace	msg
Classes
class	CostmapModel
	A class that implements the WorldModel interface to provide grid based collision checks for the trajectory controller using the costmap. More...
class	MapCell
	Stores path distance and goal distance information used for scoring trajectories. More...
class	MapGrid
	A grid of MapCell cells that is used to propagate path and goal distances for the trajectory controller. More...
struct	MapGridCostPoint
class	MapGridVisualizer
class	PlanarLaserScan
	Stores a scan from a planar laser that can be used to clear freespace. More...
class	PointGrid
	A class that implements the WorldModel interface to provide free-space collision checks for the trajectory controller. This class stores points binned into a grid and performs point-in-polygon checks when necessary to determine the legality of a footprint at a given position/orientation. More...
struct	Position2DInt_
class	Trajectory
	Holds a trajectory generated by an x, y, and theta velocity. More...
class	TrajectoryPlanner
	Computes control velocities for a robot given a costmap, a plan, and the robot's position in the world. More...
class	TrajectoryPlannerROS
	A ROS wrapper for the trajectory controller that queries the param server to construct a controller. More...
class	VoxelGridModel
	A class that implements the WorldModel interface to provide grid based collision checks for the trajectory controller using a 3D voxel grid. More...
class	WorldModel
	An interface the trajectory controller uses to interact with the world regardless of the underlying world model. More...
Typedefs
typedef ::iri_ackermann_local_planner::Position2DInt_ < std::allocator< void > >	Position2DInt
typedef boost::shared_ptr < ::iri_ackermann_local_planner::Position2DInt const >	Position2DIntConstPtr
typedef boost::shared_ptr < ::iri_ackermann_local_planner::Position2DInt >	Position2DIntPtr
Functions
double	distance (double x1, double y1, double x2, double y2)
	Compute the distance between two points.
bool	goalOrientationReached (const tf::Stamped< tf::Pose > &global_pose, double goal_th, double yaw_goal_tolerance)
	Check if the goal orientation has been achieved.
bool	goalPositionReached (const tf::Stamped< tf::Pose > &global_pose, double goal_x, double goal_y, double xy_goal_tolerance)
	Check if the goal position has been achieved.
bool	isGoalReached (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const costmap_2d::Costmap2DROS &costmap_ros, const std::string &global_frame, const nav_msgs::Odometry &base_odom, double rot_stopped_vel, double trans_stopped_vel, double xy_goal_tolerance, double yaw_goal_tolerance)
	Check if the goal pose has been achieved.
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::iri_ackermann_local_planner::Position2DInt_< ContainerAllocator > &v)
void	prunePlan (const tf::Stamped< tf::Pose > &global_pose, std::vector< geometry_msgs::PoseStamped > &plan, std::vector< geometry_msgs::PoseStamped > &global_plan)
	Trim off parts of the global plan that are far enough behind the robot.
void	publishPlan (const std::vector< geometry_msgs::PoseStamped > &path, const ros::Publisher &pub, double r, double g, double b, double a)
	Publish a plan for visualization purposes.
bool	stopped (const nav_msgs::Odometry &base_odom, const double &rot_stopped_velocity, const double &trans_stopped_velocity)
	Check whether the robot is stopped or not.
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)
	Transforms the global plan of the robot from the planner frame to the local frame.

Typedef Documentation

typedef ::iri_ackermann_local_planner::Position2DInt_<std::allocator<void> > iri_ackermann_local_planner::Position2DInt

Definition at line 47 of file Position2DInt.h.

typedef boost::shared_ptr< ::iri_ackermann_local_planner::Position2DInt const> iri_ackermann_local_planner::Position2DIntConstPtr

Definition at line 50 of file Position2DInt.h.

typedef boost::shared_ptr< ::iri_ackermann_local_planner::Position2DInt> iri_ackermann_local_planner::Position2DIntPtr

Definition at line 49 of file Position2DInt.h.

Function Documentation

double iri_ackermann_local_planner::distance	(	double	x1,
		double	y1,
		double	x2,
		double	y2
	)

Compute the distance between two points.

Parameters:

x1	The first x point
y1	The first y point
x2	The second x point
y2	The second y point

Definition at line 40 of file goal_functions.cpp.

bool iri_ackermann_local_planner::goalOrientationReached	(	const tf::Stamped< tf::Pose > &	global_pose,
		double	goal_th,
		double	yaw_goal_tolerance
	)

Check if the goal orientation has been achieved.

Parameters:

global_pose	The pose of the robot in the global frame
goal_x	The desired x value for the goal
goal_y	The desired y value for the goal
yaw_goal_tolerance	The tolerance on the position

Returns:: True if achieved, false otherwise

Definition at line 49 of file goal_functions.cpp.

bool iri_ackermann_local_planner::goalPositionReached	(	const tf::Stamped< tf::Pose > &	global_pose,
		double	goal_x,
		double	goal_y,
		double	xy_goal_tolerance
	)

Check if the goal position has been achieved.

Parameters:

global_pose	The pose of the robot in the global frame
goal_x	The desired x value for the goal
goal_y	The desired y value for the goal
xy_goal_tolerance	The tolerance on the position

Returns:: True if achieved, false otherwise

Definition at line 44 of file goal_functions.cpp.

bool iri_ackermann_local_planner::isGoalReached	(	const tf::TransformListener &	tf,
		const std::vector< geometry_msgs::PoseStamped > &	global_plan,
		const costmap_2d::Costmap2DROS &	costmap_ros,
		const std::string &	global_frame,
		const nav_msgs::Odometry &	base_odom,
		double	rot_stopped_vel,
		double	trans_stopped_vel,
		double	xy_goal_tolerance,
		double	yaw_goal_tolerance
	)

Check if the goal pose has been achieved.

Parameters:

tf	A reference to a transform listener
global_plan	The plan being followed
costmap_ros	A reference to the costmap object being used by the planner
global_frame	The global frame of the local planner
base_odom	The current odometry information for the robot
rot_stopped_vel	The rotational velocity below which the robot is considered stopped
trans_stopped_vel	The translational velocity below which the robot is considered stopped
xy_goal_tolerance	The translational tolerance on reaching the goal
yaw_goal_tolerance	The rotational tolerance on reaching the goal

Returns:: True if achieved, false otherwise

Definition at line 177 of file goal_functions.cpp.

template<typename ContainerAllocator >

std::ostream& iri_ackermann_local_planner::operator<<	(	std::ostream &	s,
		const ::iri_ackermann_local_planner::Position2DInt_< ContainerAllocator > &	v
	)

Definition at line 54 of file Position2DInt.h.

void iri_ackermann_local_planner::prunePlan	(	const tf::Stamped< tf::Pose > &	global_pose,
		std::vector< geometry_msgs::PoseStamped > &	plan,
		std::vector< geometry_msgs::PoseStamped > &	global_plan
	)

Trim off parts of the global plan that are far enough behind the robot.

Parameters:

global_pose	The pose of the robot in the global frame
plan	The plan to be pruned
global_plan	The plan to be pruned in the frame of the planner

Definition at line 73 of file goal_functions.cpp.

void iri_ackermann_local_planner::publishPlan	(	const std::vector< geometry_msgs::PoseStamped > &	path,
		const ros::Publisher &	pub,
		double	r,
		double	g,
		double	b,
		double	a
	)

Publish a plan for visualization purposes.

Parameters:

path	The plan to publish
pub	The published to use
r,g,b,a	The color and alpha value to use when publishing

Definition at line 54 of file goal_functions.cpp.

bool iri_ackermann_local_planner::stopped	(	const nav_msgs::Odometry &	base_odom,
		const double &	rot_stopped_velocity,
		const double &	trans_stopped_velocity
	)

Check whether the robot is stopped or not.

Parameters:

base_odom	The current odometry information for the robot
rot_stopped_velocity	The rotational velocity below which the robot is considered stopped
trans_stopped_velocity	The translational velocity below which the robot is considered stopped

Returns:: True if the robot is stopped, false otherwise

Definition at line 243 of file goal_functions.cpp.

bool iri_ackermann_local_planner::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
	)

Transforms the global plan of the robot from the planner frame to the local frame.

Parameters:

tf	A reference to a transform listener
global_plan	The plan to be transformed
costmap	A reference to the costmap being used so the window size for transforming can be computed
global_frame	The frame to transform the plan to
transformed_plan	Populated with the transformed plan

Definition at line 92 of file goal_functions.cpp.

Namespaces

Classes

Typedefs

Functions

Typedef Documentation

Function Documentation