BaseDistance Class Reference

#include <BaseDistance.h>

List of all members.

Classes
class	Vector2
Public Member Functions
	BaseDistance ()
void	compute_distance_keeping (double *vx, double *vy, double *vth)
bool	compute_pose2d (const char *from, const char *to, const ros::Time time, double *x, double *y, double *th)
double	distance (std::vector< Vector2 > &points, Vector2 *nearest, double dx=0, double dy=0, double dth=0)
void	setFootprint (double front, double rear, double left, double right, double tolerance)
void	setSafetyLimits (double safety_dist, double slowdown_near, double slowdown_far, double rate)
Private Member Functions
double	brake (std::vector< Vector2 > &points, double *vx, double *vy, double *vth)
void	calculateEarlyRejectDistance ()
double	grad (std::vector< Vector2 > &points, double *gx, double *gy, double *gth)
bool	interpolateBlindPoints (int n, const Vector2 &pt1, const Vector2 &pt2)
void	laserCallback (int index, const sensor_msgs::LaserScan::ConstPtr &scan)
double	project (std::vector< Vector2 > &points, double *vx, double *vy, double *vth)
void	publishBaseMarker ()
void	publishLaserMarker (const Vector2 &pt, const std::string &ns, int id=0)
void	publishNearestPoint ()
void	publishPoints (const std::vector< Vector2 > &points)
Vector2	transform (const Vector2 &v, double x, double y, double th)
Private Attributes
std::string	base_link_frame_
double	blind_spot_threshold_
std::vector< Vector2 >	blind_spots_
bool	complete_blind_spots_
double	d_
ros::Publisher	debug_pub_
double	early_reject_distance_
double	front_
boost::shared_ptr< std::vector < Vector2 > >	laser_points_ [2]
ros::Publisher	laser_points_pub_
ros::Subscriber	laser_subscriptions_ [2]
double	left_
boost::mutex	lock
ros::Publisher	marker_pub_
double	marker_size_
int	mode_
ros::NodeHandle	n_
int	n_lasers_
Vector2	nearest_
std::string	odom_frame_
double	rear_
double	repelling_dist_
double	repelling_gain_
double	repelling_gain_max_
double	right_
double	rob_th_
double	rob_x_
double	rob_y_
double	safety_dist_
double	slowdown_far_
double	slowdown_near_
tf::TransformListener	tf_
double	tolerance_
double	vth_last_
double	vx_last_
double	vy_last_

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Detailed Description

Definition at line 42 of file BaseDistance.h.

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Constructor & Destructor Documentation

BaseDistance::BaseDistance

(

)

Definition at line 70 of file BaseDistance.cc.

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Member Function Documentation

double BaseDistance::brake	(	std::vector< Vector2 > &	points,
		double *	vx,
		double *	vy,
		double *	vth
	)		[private]

Definition at line 465 of file BaseDistance.cc.

void BaseDistance::calculateEarlyRejectDistance

(

)

[private]

Definition at line 132 of file BaseDistance.cc.

void BaseDistance::compute_distance_keeping	(	double *	vx,
		double *	vy,
		double *	vth
	)

Definition at line 526 of file BaseDistance.cc.

bool BaseDistance::compute_pose2d	(	const char *	from,
		const char *	to,
		const ros::Time	time,
		double *	x,
		double *	y,
		double *	th
	)

Definition at line 140 of file BaseDistance.cc.

double BaseDistance::distance	(	std::vector< Vector2 > &	points,
		Vector2 *	nearest,
		double	dx = 0,
		double	dy = 0,
		double	dth = 0
	)

Definition at line 578 of file BaseDistance.cc.

double BaseDistance::grad	(	std::vector< Vector2 > &	points,
		double *	gx,
		double *	gy,
		double *	gth
	)		[private]

Definition at line 395 of file BaseDistance.cc.

bool BaseDistance::interpolateBlindPoints	(	int	n,
		const Vector2 &	pt1,
		const Vector2 &	pt2
	)		[private]

Interpolates n points between pt1 and pt2 and adds them to blind_spots_

Definition at line 231 of file BaseDistance.cc.

void BaseDistance::laserCallback	(	int	index,
		const sensor_msgs::LaserScan::ConstPtr &	scan
	)		[private]

Definition at line 162 of file BaseDistance.cc.

double BaseDistance::project	(	std::vector< Vector2 > &	points,
		double *	vx,
		double *	vy,
		double *	vth
	)		[private]

Definition at line 478 of file BaseDistance.cc.

void BaseDistance::publishBaseMarker

(

)

[private]

Definition at line 334 of file BaseDistance.cc.

void BaseDistance::publishLaserMarker	(	const Vector2 &	pt,
		const std::string &	ns,
		int	id = 0
	)		[private]

Definition at line 253 of file BaseDistance.cc.

void BaseDistance::publishNearestPoint

(

)

[private]

Definition at line 281 of file BaseDistance.cc.

void BaseDistance::publishPoints

(

const std::vector< Vector2 > &

points

)

[private]

Definition at line 361 of file BaseDistance.cc.

void BaseDistance::setFootprint	(	double	front,
		double	rear,
		double	left,
		double	right,
		double	tolerance
	)

Definition at line 119 of file BaseDistance.cc.

void BaseDistance::setSafetyLimits	(	double	safety_dist,
		double	slowdown_near,
		double	slowdown_far,
		double	rate
	)

Definition at line 456 of file BaseDistance.cc.

BaseDistance::Vector2 BaseDistance::transform	(	const Vector2 &	v,
		double	x,
		double	y,
		double	th
	)		[private]

Definition at line 112 of file BaseDistance.cc.

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Member Data Documentation

std::string BaseDistance::base_link_frame_ [private]

Definition at line 80 of file BaseDistance.h.

double BaseDistance::blind_spot_threshold_ [private]

Definition at line 83 of file BaseDistance.h.

std::vector<Vector2> BaseDistance::blind_spots_ [private]

Definition at line 87 of file BaseDistance.h.

bool BaseDistance::complete_blind_spots_ [private]

Definition at line 82 of file BaseDistance.h.

double BaseDistance::d_ [private]

Definition at line 78 of file BaseDistance.h.

ros::Publisher BaseDistance::debug_pub_ [private]

Definition at line 100 of file BaseDistance.h.

double BaseDistance::early_reject_distance_ [private]

Definition at line 75 of file BaseDistance.h.

double BaseDistance::front_ [private]

Definition at line 76 of file BaseDistance.h.

boost::shared_ptr<std::vector<Vector2> > BaseDistance::laser_points_[2] [private]

Definition at line 88 of file BaseDistance.h.

ros::Publisher BaseDistance::laser_points_pub_ [private]

Definition at line 99 of file BaseDistance.h.

ros::Subscriber BaseDistance::laser_subscriptions_[2] [private]

Definition at line 96 of file BaseDistance.h.

double BaseDistance::left_ [private]

Definition at line 76 of file BaseDistance.h.

boost::mutex BaseDistance::lock [private]

Definition at line 106 of file BaseDistance.h.

ros::Publisher BaseDistance::marker_pub_ [private]

Definition at line 98 of file BaseDistance.h.

double BaseDistance::marker_size_ [private]

Definition at line 74 of file BaseDistance.h.

int BaseDistance::mode_ [private]

Definition at line 94 of file BaseDistance.h.

ros::NodeHandle BaseDistance::n_ [private]

Definition at line 85 of file BaseDistance.h.

int BaseDistance::n_lasers_ [private]

Definition at line 81 of file BaseDistance.h.

Vector2 BaseDistance::nearest_ [private]

Definition at line 93 of file BaseDistance.h.

std::string BaseDistance::odom_frame_ [private]

Definition at line 80 of file BaseDistance.h.

double BaseDistance::rear_ [private]

Definition at line 76 of file BaseDistance.h.

double BaseDistance::repelling_dist_ [private]

Definition at line 78 of file BaseDistance.h.

double BaseDistance::repelling_gain_ [private]

Definition at line 78 of file BaseDistance.h.

double BaseDistance::repelling_gain_max_ [private]

Definition at line 78 of file BaseDistance.h.

double BaseDistance::right_ [private]

Definition at line 76 of file BaseDistance.h.

double BaseDistance::rob_th_ [private]

Definition at line 91 of file BaseDistance.h.

double BaseDistance::rob_x_ [private]

Definition at line 91 of file BaseDistance.h.

double BaseDistance::rob_y_ [private]

Definition at line 91 of file BaseDistance.h.

double BaseDistance::safety_dist_ [private]

Definition at line 78 of file BaseDistance.h.

double BaseDistance::slowdown_far_ [private]

Definition at line 78 of file BaseDistance.h.

double BaseDistance::slowdown_near_ [private]

Definition at line 78 of file BaseDistance.h.

tf::TransformListener BaseDistance::tf_ [private]

Definition at line 101 of file BaseDistance.h.

double BaseDistance::tolerance_ [private]

Definition at line 77 of file BaseDistance.h.

double BaseDistance::vth_last_ [private]

Definition at line 92 of file BaseDistance.h.

double BaseDistance::vx_last_ [private]

Definition at line 92 of file BaseDistance.h.

double BaseDistance::vy_last_ [private]

Definition at line 92 of file BaseDistance.h.

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

• BaseDistance.h
• BaseDistance.cc