#include <pose_follower.h>

Inheritance diagram for pr2_navigation_controllers::PoseFollower:

Public Member Functions
bool	computeVelocityCommands (geometry_msgs::Twist &cmd_vel)
void	initialize (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS costmap_ros)
bool	isGoalReached ()
	PoseFollower ()
bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &global_plan)
Private Member Functions
geometry_msgs::Twist	diff2D (const tf::Pose &pose1, const tf::Pose &pose2)
double	headingDiff (double pt_x, double pt_y, double x, double y, double heading)
geometry_msgs::Twist	limitTwist (const geometry_msgs::Twist &twist)
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
double	sign (double n)
bool	stopped ()
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
nav_msgs::Odometry	base_odom_
base_local_planner::TrajectoryPlannerROS	collision_planner_
costmap_2d::Costmap2DROS *	costmap_ros_
unsigned int	current_waypoint_
std::vector < geometry_msgs::PoseStamped >	global_plan_
ros::Time	goal_reached_time_
bool	holonomic_
double	in_place_trans_vel_
double	K_rot_
double	K_trans_
double	max_vel_lin_
double	max_vel_th_
double	min_in_place_vel_th_
double	min_vel_lin_
double	min_vel_th_
boost::mutex	odom_lock_
ros::Subscriber	odom_sub_
double	rot_stopped_velocity_
int	samples_
tf::TransformListener *	tf_
double	tolerance_rot_
double	tolerance_timeout_
double	tolerance_trans_
double	trans_stopped_velocity_
ros::Publisher	vel_pub_

Detailed Description

Definition at line 51 of file pose_follower.h.

Constructor & Destructor Documentation

pr2_navigation_controllers::PoseFollower::PoseFollower ( )

Definition at line 43 of file pose_follower.cpp.

Member Function Documentation

bool pr2_navigation_controllers::PoseFollower::computeVelocityCommands ( geometry_msgs::Twist & cmd_vel ) [virtual]

Implements nav_core::BaseLocalPlanner.

Definition at line 122 of file pose_follower.cpp.

geometry_msgs::Twist pr2_navigation_controllers::PoseFollower::diff2D	(	const tf::Pose &	pose1,
		const tf::Pose &	pose2
	)		`[private]`

Definition at line 227 of file pose_follower.cpp.

double pr2_navigation_controllers::PoseFollower::headingDiff	(	double	pt_x,
		double	pt_y,
		double	x,
		double	y,
		double	heading
	)		`[private]`

Definition at line 93 of file pose_follower.cpp.

void pr2_navigation_controllers::PoseFollower::initialize	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)		`[virtual]`

Implements nav_core::BaseLocalPlanner.

Definition at line 45 of file pose_follower.cpp.

bool pr2_navigation_controllers::PoseFollower::isGoalReached ( ) [virtual]

Implements nav_core::BaseLocalPlanner.

Definition at line 220 of file pose_follower.cpp.

geometry_msgs::Twist pr2_navigation_controllers::PoseFollower::limitTwist ( const geometry_msgs::Twist & twist ) [private]

Definition at line 269 of file pose_follower.cpp.

void pr2_navigation_controllers::PoseFollower::odomCallback ( const nav_msgs::Odometry::ConstPtr & msg ) [private]

Definition at line 83 of file pose_follower.cpp.

bool pr2_navigation_controllers::PoseFollower::setPlan ( const std::vector< geometry_msgs::PoseStamped > & global_plan ) [virtual]

Implements nav_core::BaseLocalPlanner.

Definition at line 210 of file pose_follower.cpp.

double pr2_navigation_controllers::PoseFollower::sign ( double n ) [inline, private]

Definition at line 60 of file pose_follower.h.

bool pr2_navigation_controllers::PoseFollower::stopped ( ) [private]

Definition at line 109 of file pose_follower.cpp.

bool pr2_navigation_controllers::PoseFollower::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]`