twist_recovery.h
Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  */
00030 
00039 #ifndef TWIST_RECOVERY_TWIST_RECOVERY_H
00040 #define TWIST_RECOVERY_TWIST_RECOVERY_H
00041 
00042 #include <nav_core/recovery_behavior.h>
00043 #include <base_local_planner/costmap_model.h>
00044 #include <costmap_2d/costmap_2d_ros.h>
00045 #include <geometry_msgs/Pose2D.h>
00046 
00047 namespace twist_recovery
00048 {
00049 
00052 class TwistRecovery : public nav_core::RecoveryBehavior
00053 {
00054 public:
00055   
00057   TwistRecovery();
00058 
00059   ~TwistRecovery();
00060 
00062   void initialize (std::string n, tf::TransformListener* tf,
00063                    costmap_2d::Costmap2DROS* global_costmap,
00064                    costmap_2d::Costmap2DROS* local_costmap);
00065 
00067   void runBehavior();
00068 
00069 private:
00070 
00071   geometry_msgs::Pose2D getCurrentLocalPose () const;
00072   geometry_msgs::Twist scaleGivenAccelerationLimits (const geometry_msgs::Twist& twist, const double time_remaining) const;
00073   double nonincreasingCostInterval (const geometry_msgs::Pose2D& current, const geometry_msgs::Twist& twist) const;
00074   double normalizedPoseCost (const geometry_msgs::Pose2D& pose) const;
00075   geometry_msgs::Twist transformTwist (const geometry_msgs::Pose2D& pose) const;
00076 
00077   ros::NodeHandle nh_;
00078   costmap_2d::Costmap2DROS* global_costmap_;
00079   costmap_2d::Costmap2DROS* local_costmap_;
00080   costmap_2d::Costmap2D costmap_; // Copy of local_costmap_, used by world model
00081   std::string name_;
00082   tf::TransformListener* tf_;
00083   ros::Publisher pub_;
00084   bool initialized_;
00085 
00086   // Memory owned by this object
00087   // Mutable because footprintCost is not declared const
00088   mutable base_local_planner::CostmapModel* world_model_;
00089 
00090   geometry_msgs::Twist base_frame_twist_;
00091   
00092   double duration_;
00093   double linear_speed_limit_;
00094   double angular_speed_limit_;
00095   double linear_acceleration_limit_;
00096   double angular_acceleration_limit_;
00097   double controller_frequency_;
00098   double simulation_inc_;
00099   
00100   
00101 };
00102 
00103 } // namespace twist_recovery
00104 
00105 #endif // include guard


twist_recovery
Author(s): Bhaskara Marthi
autogenerated on Tue Jan 7 2014 11:09:49