move_slow_and_clear.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef MOVE_SLOW_AND_CLEAR_MOVE_SLOW_AND_CLEAR_H_
00038 #define MOVE_SLOW_AND_CLEAR_MOVE_SLOW_AND_CLEAR_H_
00039 
00040 #include <ros/ros.h>
00041 #include <nav_core/recovery_behavior.h>
00042 #include <costmap_2d/costmap_2d_ros.h>
00043 #include <boost/thread.hpp>
00044 #include <dynamic_reconfigure/Reconfigure.h>
00045 
00046 namespace move_slow_and_clear 
00047 {
00048   class MoveSlowAndClear : public nav_core::RecoveryBehavior
00049   {
00050     public:
00051       MoveSlowAndClear();
00052       ~MoveSlowAndClear();
00053 
00055       void initialize (std::string n, tf::TransformListener* tf,
00056           costmap_2d::Costmap2DROS* global_costmap,
00057           costmap_2d::Costmap2DROS* local_costmap);
00058 
00060       void runBehavior();
00061 
00062     private:
00063       void setRobotSpeed(double trans_speed, double rot_speed);
00064       void distanceCheck(const ros::TimerEvent& e);
00065       double getSqDistance();
00066 
00067       void removeSpeedLimit();
00068 
00069       ros::NodeHandle private_nh_, planner_nh_;
00070       costmap_2d::Costmap2DROS* global_costmap_;
00071       costmap_2d::Costmap2DROS* local_costmap_;
00072       bool initialized_;
00073       double clearing_distance_, limited_distance_;
00074       double limited_trans_speed_, limited_rot_speed_, old_trans_speed_, old_rot_speed_;
00075       ros::Timer distance_check_timer_;
00076       tf::Stamped<tf::Pose> speed_limit_pose_;
00077       boost::thread* remove_limit_thread_;
00078       boost::mutex mutex_;
00079       bool limit_set_;
00080       ros::ServiceClient planner_dynamic_reconfigure_service_;
00081   };
00082 };
00083 
00084 #endif


move_slow_and_clear
Author(s): Eitan Marder-Eppstein, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:07:42