Class CpOdomTracker

• Defined in File cp_odom_tracker.hpp

Nested Relationships

Nested Types

• Struct CpOdomTracker::PathInfo

Inheritance Relationships

Base Type

• public smacc2::ISmaccComponent

Class Documentation

class CpOdomTracker : public smacc2::ISmaccComponent

This object tracks and saves the trajectories performed by the vehicle so that they can be used later to execute operations such as “undo motions”

Public Functions

CpOdomTracker(std::string odomtopicName = "/odom", std::string odomFrame = "odom")

virtual void processOdometryMessage(const nav_msgs::msg::Odometry::SharedPtr odom)

odom callback: Updates the path - this must be called periodically for each odometry message.

void setWorkingMode(WorkingMode workingMode)

void setPublishMessages(bool value)

void pushPath()

void pushPath(std::string pathname)

void popPath(int pathCount = 1, bool keepPreviousPath = false)

void clearPath()

void setStartPoint(const geometry_msgs::msg::PoseStamped &pose)

void setStartPoint(const geometry_msgs::msg::Pose &pose)

void setCurrentMotionGoal(const geometry_msgs::msg::PoseStamped &pose)

void setCurrentPathName(const std::string &currentPathName)

std::optional<geometry_msgs::msg::PoseStamped> getCurrentMotionGoal()

nav_msgs::msg::Path getPath()

void logStateString(bool debug = true)

Protected Functions

void onInitialize() override

void updateConfiguration()

virtual void rtPublishPaths(rclcpp::Time timestamp)

virtual bool updateRecordPath(const nav_msgs::msg::Odometry &odom)

virtual bool updateClearPath(const nav_msgs::msg::Odometry &odom)

void updateAggregatedStackPath()

Protected Attributes

rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr robotBasePathPub_

rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr robotBasePathStackedPub_

rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odomSub_

double recordPointDistanceThreshold_

How much distance there is between two points of the path.

double recordAngularDistanceThreshold_

Meters.

double clearPointDistanceThreshold_

rads

double clearAngularDistanceThreshold_

rads

std::string odomFrame_

std::string odomTopicName_

bool publishMessages

nav_msgs::msg::Path baseTrajectory_

Processed path for the mouth of the reel.

WorkingMode workingMode_

std::vector<nav_msgs::msg::Path> pathStack_

std::vector<PathInfo> pathInfos_

nav_msgs::msg::Path aggregatedStackPathMsg_

bool subscribeToOdometryTopic_

std::optional<geometry_msgs::msg::PoseStamped> currentMotionGoal_

std::string currentPathName_

std::mutex m_mutex_

struct PathInfo

Public Members

std::string name

std::optional<geometry_msgs::msg::PoseStamped> goalPose