tedusar_path_follower::tedusar_path_follower Class Reference

#include <tedusar_daf_path_follower.hpp>

List of all members.

Public Member Functions
void	calc_angel_compensation ()
void	calc_ground_compensation ()
void	calc_local_path ()
void	calculate_al_rot ()
void	calculate_cmd ()
void	check_robot_stability ()
void	executePathCB (const ExecutePathGoalConstPtr &goal)
void	imuCallback (const sensor_msgs::ImuConstPtr &imu_msg)
void	init ()
void	path_cb (const nav_msgs::Path::ConstPtr &path)
void	pose_update (const nav_msgs::Odometry pose)
void	resetPathFollowing ()
	tedusar_path_follower (ros::NodeHandle nh)
	Standard construktor.
void	velocity_increase ()
virtual	~tedusar_path_follower ()
	Destructor.
Public Attributes
ExecutePathResult	action_result
double	al_an_diff
double	alignment_angle
bool	alignment_finished
double	angle_diff
double	area
tf::Vector3	axis
std::string	base_link
nav_msgs::Path	calc_path
geometry_msgs::Twist	cmd
std::string	cmd_vel_out
int	co_points
int	co_unchanged
double	curr_dist
nav_msgs::Path	curr_path
double	dirx
double	diry
double	dist
double	distt
double	dx
double	dy
bool	enable_angle_compensation
bool	enable_ground_compensation
bool	enable_velocity_encrease
int	err_cont
double	execution_period
ExecutePathFeedback	feedback
double	fi_po_x
double	fi_po_y
double	glo_pos_diff_x
double	glo_pos_diff_y
double	global_goal_tolerance
double	imu_pitch
double	imu_roll
std::string	imu_topic
double	imu_yaw
double	lin_vel
double	lin_vel_ref
tf::TransformListener	listener
nav_msgs::Path	local_calc_path
double	lower_al_angle
std::string	map_link
double	max_H
double	max_lin_speed
double	max_rot_speed
double	mDx
double	mDy
double	midX
double	midY
double	min_lin_speed
double	min_rot_speed
bool	move_robot
ros::Time	now
nav_msgs::Odometry	odom
double	old_pos_x
double	old_pos_y
tf::Vector3	origin
int	oscilation_rotation
int	path_po_lenght
std::string	path_topic
double	pdist
double	pitch
double	points [50][2]
std::string	pose_update_topic
int	psize
double	pub_cmd_hz
double	rad
double	roll
double	rot_correction_factor
double	rot_dir_opti
double	rot_vel
double	rot_vel_dir
tf::Quaternion	rotation
double	se_po_x
double	se_po_y
bool	show_trajectory_planing
double	sideA
double	sideB
double	sideC
double	ss
int	st_point
double	stability_angle
double	th_po_x
double	th_po_y
double	tmp_H
tf::StampedTransform	transform
double	update_skip
double	upper_al_angle
double	Wid
double	yaw
Protected Attributes
ros::Publisher	cmd_vel_pub
ExecutePathActionServer	execute_path_action_server_
ros::Subscriber	imu_data_sub
ros::Publisher	local_path_pub
ros::Publisher	marker_pub
ros::NodeHandle	nh_
ros::Subscriber	path_3d_sub
ros::Publisher	path_pub
ros::Subscriber	pose_update_sub
Private Member Functions
	tedusar_path_follower (const tedusar_path_follower &src)
	Copyconstruction is not allowed.

---

Detailed Description

Definition at line 61 of file tedusar_daf_path_follower.hpp.

---

Constructor & Destructor Documentation

tedusar_path_follower::tedusar_path_follower::tedusar_path_follower

(

const tedusar_path_follower &

src

)

[private]

Copyconstruction is not allowed.

tedusar_path_follower::tedusar_path_follower::tedusar_path_follower

(

ros::NodeHandle

nh

)

Standard construktor.

Definition at line 43 of file tedusar_daf_path_follower.cpp.

tedusar_path_follower::tedusar_path_follower::~tedusar_path_follower

(

)

[virtual]

Destructor.

Definition at line 77 of file tedusar_daf_path_follower.cpp.

---

Member Function Documentation

void tedusar_path_follower::tedusar_path_follower::calc_angel_compensation

(

)

Definition at line 581 of file tedusar_daf_path_follower.cpp.

void tedusar_path_follower::tedusar_path_follower::calc_ground_compensation

(

)

Definition at line 489 of file tedusar_daf_path_follower.cpp.

void tedusar_path_follower::tedusar_path_follower::calc_local_path

(

)

Definition at line 197 of file tedusar_daf_path_follower.cpp.

void tedusar_path_follower::tedusar_path_follower::calculate_al_rot

(

)

Definition at line 519 of file tedusar_daf_path_follower.cpp.

void tedusar_path_follower::tedusar_path_follower::calculate_cmd

(

)

Definition at line 666 of file tedusar_daf_path_follower.cpp.

void tedusar_path_follower::tedusar_path_follower::check_robot_stability

(

)

Definition at line 505 of file tedusar_daf_path_follower.cpp.

void tedusar_path_follower::tedusar_path_follower::executePathCB

(

const ExecutePathGoalConstPtr &

goal

)

Definition at line 542 of file tedusar_daf_path_follower.cpp.

void tedusar_path_follower::tedusar_path_follower::imuCallback

(

const sensor_msgs::ImuConstPtr &

imu_msg

)

Definition at line 137 of file tedusar_daf_path_follower.cpp.

void tedusar_path_follower::tedusar_path_follower::init

(

)

Definition at line 83 of file tedusar_daf_path_follower.cpp.

void tedusar_path_follower::tedusar_path_follower::path_cb

(

const nav_msgs::Path::ConstPtr &

path

)

Definition at line 181 of file tedusar_daf_path_follower.cpp.

void tedusar_path_follower::tedusar_path_follower::pose_update

(

const nav_msgs::Odometry

pose

)

Definition at line 147 of file tedusar_daf_path_follower.cpp.

void tedusar_path_follower::tedusar_path_follower::resetPathFollowing

(

)

Definition at line 107 of file tedusar_daf_path_follower.cpp.

void tedusar_path_follower::tedusar_path_follower::velocity_increase

(

)

Definition at line 614 of file tedusar_daf_path_follower.cpp.

---

Member Data Documentation

ExecutePathResult tedusar_path_follower::tedusar_path_follower::action_result

Definition at line 96 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::al_an_diff

Definition at line 124 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::alignment_angle

Definition at line 111 of file tedusar_daf_path_follower.hpp.

bool tedusar_path_follower::tedusar_path_follower::alignment_finished

Definition at line 99 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::angle_diff

Definition at line 106 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::area

Definition at line 123 of file tedusar_daf_path_follower.hpp.

tf::Vector3 tedusar_path_follower::tedusar_path_follower::axis

Definition at line 146 of file tedusar_daf_path_follower.hpp.

std::string tedusar_path_follower::tedusar_path_follower::base_link

Definition at line 85 of file tedusar_daf_path_follower.hpp.

nav_msgs::Path tedusar_path_follower::tedusar_path_follower::calc_path

Definition at line 92 of file tedusar_daf_path_follower.hpp.

geometry_msgs::Twist tedusar_path_follower::tedusar_path_follower::cmd

Definition at line 88 of file tedusar_daf_path_follower.hpp.

std::string tedusar_path_follower::tedusar_path_follower::cmd_vel_out

Definition at line 83 of file tedusar_daf_path_follower.hpp.

ros::Publisher tedusar_path_follower::tedusar_path_follower::cmd_vel_pub [protected]

Definition at line 75 of file tedusar_daf_path_follower.hpp.

int tedusar_path_follower::tedusar_path_follower::co_points

Definition at line 137 of file tedusar_daf_path_follower.hpp.

int tedusar_path_follower::tedusar_path_follower::co_unchanged

Definition at line 137 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::curr_dist

Definition at line 114 of file tedusar_daf_path_follower.hpp.

nav_msgs::Path tedusar_path_follower::tedusar_path_follower::curr_path

Definition at line 91 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::dirx

Definition at line 121 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::diry

Definition at line 121 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::dist

Definition at line 116 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::distt

Definition at line 127 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::dx

Definition at line 126 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::dy

Definition at line 126 of file tedusar_daf_path_follower.hpp.

bool tedusar_path_follower::tedusar_path_follower::enable_angle_compensation

Definition at line 102 of file tedusar_daf_path_follower.hpp.

bool tedusar_path_follower::tedusar_path_follower::enable_ground_compensation

Definition at line 103 of file tedusar_daf_path_follower.hpp.

bool tedusar_path_follower::tedusar_path_follower::enable_velocity_encrease

Definition at line 104 of file tedusar_daf_path_follower.hpp.

int tedusar_path_follower::tedusar_path_follower::err_cont

Definition at line 139 of file tedusar_daf_path_follower.hpp.

ExecutePathActionServer tedusar_path_follower::tedusar_path_follower::execute_path_action_server_ [protected]

Definition at line 71 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::execution_period

Definition at line 110 of file tedusar_daf_path_follower.hpp.

ExecutePathFeedback tedusar_path_follower::tedusar_path_follower::feedback

Definition at line 97 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::fi_po_x

Definition at line 120 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::fi_po_y

Definition at line 120 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::glo_pos_diff_x

Definition at line 131 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::glo_pos_diff_y

Definition at line 131 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::global_goal_tolerance

Definition at line 119 of file tedusar_daf_path_follower.hpp.

ros::Subscriber tedusar_path_follower::tedusar_path_follower::imu_data_sub [protected]

Definition at line 74 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::imu_pitch

Definition at line 133 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::imu_roll

Definition at line 133 of file tedusar_daf_path_follower.hpp.

std::string tedusar_path_follower::tedusar_path_follower::imu_topic

Definition at line 86 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::imu_yaw

Definition at line 133 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::lin_vel

Definition at line 116 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::lin_vel_ref

Definition at line 116 of file tedusar_daf_path_follower.hpp.

tf::TransformListener tedusar_path_follower::tedusar_path_follower::listener

Definition at line 142 of file tedusar_daf_path_follower.hpp.

nav_msgs::Path tedusar_path_follower::tedusar_path_follower::local_calc_path

Definition at line 93 of file tedusar_daf_path_follower.hpp.

ros::Publisher tedusar_path_follower::tedusar_path_follower::local_path_pub [protected]

Definition at line 77 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::lower_al_angle

Definition at line 134 of file tedusar_daf_path_follower.hpp.

std::string tedusar_path_follower::tedusar_path_follower::map_link

Definition at line 84 of file tedusar_daf_path_follower.hpp.

ros::Publisher tedusar_path_follower::tedusar_path_follower::marker_pub [protected]

Definition at line 78 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::max_H

Definition at line 118 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::max_lin_speed

Definition at line 108 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::max_rot_speed

Definition at line 109 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::mDx

Definition at line 128 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::mDy

Definition at line 128 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::midX

Definition at line 125 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::midY

Definition at line 125 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::min_lin_speed

Definition at line 108 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::min_rot_speed

Definition at line 109 of file tedusar_daf_path_follower.hpp.

bool tedusar_path_follower::tedusar_path_follower::move_robot

Definition at line 101 of file tedusar_daf_path_follower.hpp.

ros::NodeHandle tedusar_path_follower::tedusar_path_follower::nh_ [protected]

Definition at line 70 of file tedusar_daf_path_follower.hpp.

ros::Time tedusar_path_follower::tedusar_path_follower::now

Definition at line 147 of file tedusar_daf_path_follower.hpp.

nav_msgs::Odometry tedusar_path_follower::tedusar_path_follower::odom

Definition at line 87 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::old_pos_x

Definition at line 129 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::old_pos_y

Definition at line 130 of file tedusar_daf_path_follower.hpp.

tf::Vector3 tedusar_path_follower::tedusar_path_follower::origin

Definition at line 144 of file tedusar_daf_path_follower.hpp.

int tedusar_path_follower::tedusar_path_follower::oscilation_rotation

Definition at line 140 of file tedusar_daf_path_follower.hpp.

ros::Subscriber tedusar_path_follower::tedusar_path_follower::path_3d_sub [protected]

Definition at line 72 of file tedusar_daf_path_follower.hpp.

int tedusar_path_follower::tedusar_path_follower::path_po_lenght

Definition at line 138 of file tedusar_daf_path_follower.hpp.

ros::Publisher tedusar_path_follower::tedusar_path_follower::path_pub [protected]

Definition at line 76 of file tedusar_daf_path_follower.hpp.

std::string tedusar_path_follower::tedusar_path_follower::path_topic

Definition at line 81 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::pdist

Definition at line 127 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::pitch

Definition at line 112 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::points[50][2]

Definition at line 117 of file tedusar_daf_path_follower.hpp.

ros::Subscriber tedusar_path_follower::tedusar_path_follower::pose_update_sub [protected]

Definition at line 73 of file tedusar_daf_path_follower.hpp.

std::string tedusar_path_follower::tedusar_path_follower::pose_update_topic

Definition at line 82 of file tedusar_daf_path_follower.hpp.

int tedusar_path_follower::tedusar_path_follower::psize

Definition at line 138 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::pub_cmd_hz

Definition at line 107 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::rad

Definition at line 118 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::roll

Definition at line 112 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::rot_correction_factor

Definition at line 132 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::rot_dir_opti

Definition at line 115 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::rot_vel

Definition at line 116 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::rot_vel_dir

Definition at line 115 of file tedusar_daf_path_follower.hpp.

tf::Quaternion tedusar_path_follower::tedusar_path_follower::rotation

Definition at line 145 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::se_po_x

Definition at line 120 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::se_po_y

Definition at line 120 of file tedusar_daf_path_follower.hpp.

bool tedusar_path_follower::tedusar_path_follower::show_trajectory_planing

Definition at line 100 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::sideA

Definition at line 122 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::sideB

Definition at line 122 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::sideC

Definition at line 122 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::ss

Definition at line 123 of file tedusar_daf_path_follower.hpp.

int tedusar_path_follower::tedusar_path_follower::st_point

Definition at line 138 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::stability_angle

Definition at line 135 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::th_po_x

Definition at line 120 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::th_po_y

Definition at line 120 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::tmp_H

Definition at line 123 of file tedusar_daf_path_follower.hpp.

tf::StampedTransform tedusar_path_follower::tedusar_path_follower::transform

Definition at line 143 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::update_skip

Definition at line 113 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::upper_al_angle

Definition at line 134 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::Wid

Definition at line 118 of file tedusar_daf_path_follower.hpp.

double tedusar_path_follower::tedusar_path_follower::yaw

Definition at line 112 of file tedusar_daf_path_follower.hpp.

---

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

• tedusar_daf_path_follower.hpp
• tedusar_daf_path_follower.cpp