NodeClass Class Reference

List of all members.

Public Member Functions
void	actionCB (const move_base_msgs::MoveBaseGoalConstPtr &goal)
bool	getUseMoveAction (void)
	NodeClass (std::string name)
void	odometryCB (const nav_msgs::Odometry::ConstPtr &odometry)
void	performControllerStep ()
void	topicCB (const geometry_msgs::PoseStamped::ConstPtr &goal)
	~NodeClass ()
Public Attributes
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction > *	action_client_
actionlib::SimpleActionServer < move_base_msgs::MoveBaseAction >	as_
ros::Subscriber	goal_sub_
ros::NodeHandle	nh_
ros::Subscriber	odometry_sub_
move_base_msgs::MoveBaseResult	result_
ros::Publisher	topic_pub_command_
Private Member Functions
double	getDistance2d (geometry_msgs::PoseStamped a, geometry_msgs::PoseStamped b)
double	getDistance2d (geometry_msgs::Point a, geometry_msgs::Point b)
geometry_msgs::PoseStamped	getRobotPoseGlobal ()
double	getThetaDiffRad (double target, double actual)
bool	goalValid (const geometry_msgs::Pose &goal)
bool	notMovingDueToObstacle ()
void	publishVelocitiesGlobal (double vx, double vy, double theta)
double	sign (double x)
void	stopMovement ()
geometry_msgs::PoseStamped	transformGoalToMap (geometry_msgs::PoseStamped goal_pose)
Private Attributes
bool	finished_
std::string	global_frame_
double	goal_abortion_time_
geometry_msgs::PoseStamped	goal_pose_global_
double	goal_threshold_
double	goal_threshold_rot_
double	kp_
double	kp_rot_
double	kv_
double	kv_rot_
double	last_time_
double	last_time_moving_
pthread_mutex_t	m_mutex
bool	move_
std::string	robot_frame_
geometry_msgs::PoseStamped	robot_pose_global_
geometry_msgs::Vector3Stamped	robot_twist_angular_robot_
geometry_msgs::Vector3Stamped	robot_twist_linear_robot_
double	slow_down_distance_
double	speed_threshold_
double	speed_threshold_rot_
tf::TransformListener	tf_listener_
double	theta_last_
bool	use_move_action_
double	v_max_
double	virt_mass_
double	virt_mass_rot_
double	vtheta_last_
double	vtheta_max_
double	vx_last_
double	vy_last_
double	x_last_
double	y_last_
geometry_msgs::PoseStamped	zero_pose_

---

Detailed Description

Definition at line 79 of file cob_linear_nav.cpp.

---

Constructor & Destructor Documentation

NodeClass::NodeClass

(

std::string

name

)

[inline]

Definition at line 99 of file cob_linear_nav.cpp.

NodeClass::~NodeClass

(

)

[inline]

Definition at line 333 of file cob_linear_nav.cpp.

---

Member Function Documentation

void NodeClass::actionCB

(

const move_base_msgs::MoveBaseGoalConstPtr &

goal

)

[inline]

Definition at line 252 of file cob_linear_nav.cpp.

double NodeClass::getDistance2d	(	geometry_msgs::PoseStamped	a,
		geometry_msgs::PoseStamped	b
	)		[private]

Definition at line 413 of file cob_linear_nav.cpp.

double NodeClass::getDistance2d	(	geometry_msgs::Point	a,
		geometry_msgs::Point	b
	)		[private]

Definition at line 417 of file cob_linear_nav.cpp.

geometry_msgs::PoseStamped NodeClass::getRobotPoseGlobal

(

)

[private]

Definition at line 399 of file cob_linear_nav.cpp.

double NodeClass::getThetaDiffRad	(	double	target,
		double	actual
	)		[private]

Definition at line 426 of file cob_linear_nav.cpp.

bool NodeClass::getUseMoveAction

(

void

)

Definition at line 382 of file cob_linear_nav.cpp.

bool NodeClass::goalValid

(

const geometry_msgs::Pose &

goal

)

[private]

Definition at line 501 of file cob_linear_nav.cpp.

bool NodeClass::notMovingDueToObstacle

(

)

[private]

Definition at line 481 of file cob_linear_nav.cpp.

void NodeClass::odometryCB

(

const nav_msgs::Odometry::ConstPtr &

odometry

)

[inline]

Definition at line 320 of file cob_linear_nav.cpp.

void NodeClass::performControllerStep

(

)

Definition at line 517 of file cob_linear_nav.cpp.

void NodeClass::publishVelocitiesGlobal	(	double	vx,
		double	vy,
		double	theta
	)		[private]

Definition at line 431 of file cob_linear_nav.cpp.

double NodeClass::sign

(

double

x

)

[private]

Definition at line 421 of file cob_linear_nav.cpp.

void NodeClass::stopMovement

(

)

[private]

Definition at line 474 of file cob_linear_nav.cpp.

void NodeClass::topicCB

(

const geometry_msgs::PoseStamped::ConstPtr &

goal

)

[inline]

Definition at line 208 of file cob_linear_nav.cpp.

geometry_msgs::PoseStamped NodeClass::transformGoalToMap

(

geometry_msgs::PoseStamped

goal_pose

)

[private]

Definition at line 387 of file cob_linear_nav.cpp.

---

Member Data Documentation

actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction>* NodeClass::action_client_

Definition at line 95 of file cob_linear_nav.cpp.

actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> NodeClass::as_

Definition at line 91 of file cob_linear_nav.cpp.

bool NodeClass::finished_ [private]

Definition at line 350 of file cob_linear_nav.cpp.

std::string NodeClass::global_frame_ [private]

Definition at line 342 of file cob_linear_nav.cpp.

double NodeClass::goal_abortion_time_ [private]

Definition at line 348 of file cob_linear_nav.cpp.

geometry_msgs::PoseStamped NodeClass::goal_pose_global_ [private]

Definition at line 343 of file cob_linear_nav.cpp.

ros::Subscriber NodeClass::goal_sub_

Definition at line 88 of file cob_linear_nav.cpp.

double NodeClass::goal_threshold_ [private]

Definition at line 372 of file cob_linear_nav.cpp.

double NodeClass::goal_threshold_rot_ [private]

Definition at line 373 of file cob_linear_nav.cpp.

double NodeClass::kp_ [private]

Definition at line 374 of file cob_linear_nav.cpp.

double NodeClass::kp_rot_ [private]

Definition at line 375 of file cob_linear_nav.cpp.

double NodeClass::kv_ [private]

Definition at line 374 of file cob_linear_nav.cpp.

double NodeClass::kv_rot_ [private]

Definition at line 375 of file cob_linear_nav.cpp.

double NodeClass::last_time_ [private]

Definition at line 376 of file cob_linear_nav.cpp.

double NodeClass::last_time_moving_ [private]

Definition at line 378 of file cob_linear_nav.cpp.

pthread_mutex_t NodeClass::m_mutex [private]

Definition at line 354 of file cob_linear_nav.cpp.

bool NodeClass::move_ [private]

Definition at line 350 of file cob_linear_nav.cpp.

ros::NodeHandle NodeClass::nh_

Definition at line 83 of file cob_linear_nav.cpp.

ros::Subscriber NodeClass::odometry_sub_

Definition at line 88 of file cob_linear_nav.cpp.

move_base_msgs::MoveBaseResult NodeClass::result_

Definition at line 92 of file cob_linear_nav.cpp.

std::string NodeClass::robot_frame_ [private]

Definition at line 342 of file cob_linear_nav.cpp.

geometry_msgs::PoseStamped NodeClass::robot_pose_global_ [private]

Definition at line 345 of file cob_linear_nav.cpp.

geometry_msgs::Vector3Stamped NodeClass::robot_twist_angular_robot_ [private]

Definition at line 346 of file cob_linear_nav.cpp.

geometry_msgs::Vector3Stamped NodeClass::robot_twist_linear_robot_ [private]

Definition at line 346 of file cob_linear_nav.cpp.

double NodeClass::slow_down_distance_ [private]

Definition at line 348 of file cob_linear_nav.cpp.

double NodeClass::speed_threshold_ [private]

Definition at line 372 of file cob_linear_nav.cpp.

double NodeClass::speed_threshold_rot_ [private]

Definition at line 373 of file cob_linear_nav.cpp.

tf::TransformListener NodeClass::tf_listener_ [private]

Definition at line 341 of file cob_linear_nav.cpp.

double NodeClass::theta_last_ [private]

Definition at line 371 of file cob_linear_nav.cpp.

ros::Publisher NodeClass::topic_pub_command_

Definition at line 86 of file cob_linear_nav.cpp.

bool NodeClass::use_move_action_ [private]

Definition at line 352 of file cob_linear_nav.cpp.

double NodeClass::v_max_ [private]

Definition at line 377 of file cob_linear_nav.cpp.

double NodeClass::virt_mass_ [private]

Definition at line 374 of file cob_linear_nav.cpp.

double NodeClass::virt_mass_rot_ [private]

Definition at line 375 of file cob_linear_nav.cpp.

double NodeClass::vtheta_last_ [private]

Definition at line 371 of file cob_linear_nav.cpp.

double NodeClass::vtheta_max_ [private]

Definition at line 377 of file cob_linear_nav.cpp.

double NodeClass::vx_last_ [private]

Definition at line 371 of file cob_linear_nav.cpp.

double NodeClass::vy_last_ [private]

Definition at line 371 of file cob_linear_nav.cpp.

double NodeClass::x_last_ [private]

Definition at line 371 of file cob_linear_nav.cpp.

double NodeClass::y_last_ [private]

Definition at line 371 of file cob_linear_nav.cpp.

geometry_msgs::PoseStamped NodeClass::zero_pose_ [private]

Definition at line 344 of file cob_linear_nav.cpp.

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

• cob_linear_nav.cpp