#include <RobotOperator.h>

Public Member Functions
void	executeCommand ()
	Generates and sends Twist-Message to Robot This is the Operator's core function and should be called periodically.
void	receiveCommand (const nav2d_operator::cmd::ConstPtr &msg)
	Callback function to receive move commands.
	RobotOperator ()
	~RobotOperator ()
Private Member Functions
int	calculateFreeSpace (sensor_msgs::PointCloud *cloud)
	Calculates the distance the robot can move following the given trajectory.
double	evaluateAction (double direction, double velocity, bool debug=false)
	Calculate the action value of a given command.
double	findBestDirection ()
	Evaluates all possible directions with a fixed resolution.
sensor_msgs::PointCloud *	getPointCloud (double direction, double velocity)
	Get the trajectory defined by the given movement command.
void	initTrajTable ()
	Initializes look-up tables This calculates the trajectories of all possible direction commands. Must be called once before the Operator is used.
Private Attributes
ros::Subscriber	mCommandSubscriber
int	mConformanceWeight
int	mContinueWeight
ros::Publisher	mControlPublisher
costmap_2d::Costmap2D *	mCostmap
ros::Publisher	mCostPublisher
double	mCurrentDirection
double	mCurrentVelocity
double	mDesiredDirection
double	mDesiredVelocity
int	mDistanceWeight
int	mDriveMode
costmap_2d::Costmap2DROS *	mLocalMap
double	mMaxFreeSpace
double	mMaxVelocity
std::string	mOdometryFrame
ros::Publisher	mPlanPublisher
bool	mPublishRoute
double	mRasterSize
unsigned int	mRecoverySteps
std::string	mRobotFrame
double	mSafetyDecay
int	mSafetyWeight
tf::TransformListener	mTfListener
ros::Publisher	mTrajectoryPublisher
sensor_msgs::PointCloud *	mTrajTable [(LUT_RESOLUTION *4)+2]

Detailed Description

Author:: Sebastian Kasperski

Date:: 03/25/14

Definition at line 30 of file RobotOperator.h.

Constructor & Destructor Documentation

RobotOperator::RobotOperator ( )

Definition at line 8 of file RobotOperator.cpp.

RobotOperator::~RobotOperator ( )

Definition at line 57 of file RobotOperator.cpp.

Member Function Documentation

int RobotOperator::calculateFreeSpace ( sensor_msgs::PointCloud * cloud ) [private]

Calculates the distance the robot can move following the given trajectory.

Parameters:

cloud PointCloud defining a trajectory

Returns:: Nmber of free cells

Definition at line 364 of file RobotOperator.cpp.

double RobotOperator::evaluateAction	(	double	direction,
		double	velocity,
		bool	debug = `false`
	)		`[private]`

Calculate the action value of a given command.

Parameters:

direction	How to move the robot
velocity	Only used to distinguish forward and backward motion
debug	Publish result of evaluation functions on debug topic

Returns:: Weighted sum of all evaluation functions The given action is rated by 4 different evaluation functions: Free Space: How far can the robot move following this command Safety: How close will it get near obstacles Conformance: How good does it follow the commanded direction Continuity: (experimental!) How does it conform with the last issued command

Definition at line 388 of file RobotOperator.cpp.

void RobotOperator::executeCommand ( )

Generates and sends Twist-Message to Robot This is the Operator's core function and should be called periodically.

Definition at line 200 of file RobotOperator.cpp.

double RobotOperator::findBestDirection ( ) [private]

Evaluates all possible directions with a fixed resolution.

Returns:: Best evaluated direction

Definition at line 494 of file RobotOperator.cpp.

sensor_msgs::PointCloud * RobotOperator::getPointCloud	(	double	direction,
		double	velocity
	)		`[inline, private]`

Get the trajectory defined by the given movement command.

Parameters:

direction	How to move the robot
velocity	Only used to distinguish forward and backward motion

Returns:: A pointer to the PointCloud defined in the robot coordinate frame

Definition at line 514 of file RobotOperator.cpp.

void RobotOperator::initTrajTable ( ) [private]

Initializes look-up tables This calculates the trajectories of all possible direction commands. Must be called once before the Operator is used.

Definition at line 65 of file RobotOperator.cpp.

void RobotOperator::receiveCommand ( const nav2d_operator::cmd::ConstPtr & msg )

Callback function to receive move commands.

Parameters:

msg	Command-Message Direction [-1.0 .. 1.0]: -1(rotate left); 0(straight); 1(rotate right) Velocity [-1.0 .. 1.0]: -1(full speed back); 0(stop); 1(full speed ahead) Mode: 0(Avoid obstacles); 1(Stop at obstacles)

Definition at line 182 of file RobotOperator.cpp.