IRI ROS Specific Driver Class. More...

#include <no_collision_alg.h>

Public Types
typedef iri_no_collision::NoCollisionConfig	Config
	define config type
Public Member Functions
void	config_update (const Config &new_cfg, uint32_t level=0)
	config update
void	getDistance2Goal (geometry_msgs::Pose &current_goal)
bool	isGoalReached (void)
	goal is reached
bool	isGoalTraversable (const sensor_msgs::LaserScan &laser, const geometry_msgs::Point &goal)
	goal traversable
void	lock (void)
	Lock Algorithm.
bool	movePlatform (const sensor_msgs::LaserScan &laser, const geometry_msgs::Pose &local_goal, geometry_msgs::Twist &twist)
	move platform
	NoCollisionAlgorithm (void)
	constructor
void	setGoal (const geometry_msgs::Pose &local_goal)
	reset distance to goal
void	setRotationalSpeed (const double vr)
void	setTranslationalSpeed (const double vt)
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~NoCollisionAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Member Functions
void	fromCartesian2Polar (const geometry_msgs::Point &p, float &module, float &angle)
	cartesian to polar conversion
void	fromPolar2Cartesian (const float &module, const float &angle, geometry_msgs::Point &p)
void	updateRotationTrajParams (void)
void	updateTranslationTrajParams (void)
Protected Attributes
float	acc_angle_
float	acc_dist_
CMutex	alg_mutex_
	define config type
float	ANGLE_TOL_
float	current_angle_
float	current_dist_
ros::Time	current_time_
float	current_vr_
float	current_vt_
float	deacc_angle_
float	deacc_dist_
float	desired_vr_
float	desired_vt_
float	DIST_TOL_
float	heading
float	LASER_SAFE_DIST_
float	MAX_ANGLE_TO_STOP_
float	MIN_SAFE_ANGLE_
float	MIN_SAFE_DISTANCE_
float	OA_CONE_ANGLE_
float	R_ACC_
float	T_ACC_
float	target_angle_
float	target_dist_
float	target_vr_
float	target_vt_
float	VR_MAX_
TrajStates	vr_state_
float	VT_MAX_
TrajStates	vt_state_
Static Protected Attributes
static const float	MIN_LASER_RANGE_ = 0.005f

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 44 of file no_collision_alg.h.

Member Typedef Documentation

typedef iri_no_collision::NoCollisionConfig NoCollisionAlgorithm::Config

define config type

Define a Config type with the NoCollisionConfig. All driver implementations will then use the same variable type Config.

Definition at line 120 of file no_collision_alg.h.

Constructor & Destructor Documentation

NoCollisionAlgorithm::NoCollisionAlgorithm ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 7 of file no_collision_alg.cpp.

NoCollisionAlgorithm::~NoCollisionAlgorithm ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 45 of file no_collision_alg.cpp.

Member Function Documentation

void NoCollisionAlgorithm::config_update	(	const Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 94 of file no_collision_alg.cpp.

void NoCollisionAlgorithm::fromCartesian2Polar	(	const geometry_msgs::Point &	p,
		float &	module,
		float &	angle
	)		`[protected]`

cartesian to polar conversion

This function converts a cartesian point into module and angle polar values.

Parameters:

p	input cartesian point
module	output polar module
agnle	output polar angle

Definition at line 49 of file no_collision_alg.cpp.

void NoCollisionAlgorithm::fromPolar2Cartesian	(	const float &	module,
		const float &	angle,
		geometry_msgs::Point &	p
	)		`[protected]`

Definition at line 55 of file no_collision_alg.cpp.

void NoCollisionAlgorithm::getDistance2Goal ( geometry_msgs::Pose & current_goal )

Definition at line 185 of file no_collision_alg.cpp.

bool NoCollisionAlgorithm::isGoalReached ( void )

goal is reached

This function returns true if the distance and angle to the requested goal are less than previously defined thresholds: MIN_SAFE_DISTANCE, MIN_SAFE_ANGLE.

Returns:: true if both distance and angle values are less than thresholds.

Definition at line 137 of file no_collision_alg.cpp.

bool NoCollisionAlgorithm::isGoalTraversable	(	const sensor_msgs::LaserScan &	laser,
		const geometry_msgs::Point &	goal
	)

goal traversable

This function returns true if any of the laser bins detects an obstacle (bin range is less than platform safety_distance).

Parameters:

laser	current laser scan
safety_distance	platfom's safety/clear distance

Returns:: bool true if all laser bins are clear of obstacles

Definition at line 368 of file no_collision_alg.cpp.

void NoCollisionAlgorithm::lock ( void ) [inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 145 of file no_collision_alg.h.

bool NoCollisionAlgorithm::movePlatform	(	const sensor_msgs::LaserScan &	laser,
		const geometry_msgs::Pose &	local_goal,
		geometry_msgs::Twist &	twist
	)

move platform

This function computes appropiate Twist values to command a platform given a laser scan and a local pose goal. Distance and angle to goal are updated with respect the local pose goal. The isGoalTraversable function determines whether the goal is clear of obstacles or not. The Twist command is computed based on distance and angle to goal values.

Parameters: