#include <ftc_planner.h>

Inheritance diagram for ftc_local_planner::FTCPlanner:

Public Member Functions
bool	computeVelocityCommands (geometry_msgs::Twist &cmd_vel)
	Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.
	FTCPlanner ()
void	initialize (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS costmap_ros)
	Constructs the local planner.
bool	isGoalReached ()
	Check if the goal pose has been achieved by the local planner.
bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &plan)
	Set the plan that the local planner is following.
	~FTCPlanner ()
Private Member Functions
double	calculateGlobalPlanAngle (tf::Stamped< tf::Pose > current_pose, const std::vector< geometry_msgs::PoseStamped > &plan, int points)
	Calculate the orientation of the global plan.
bool	checkCollision (int max_points)
	Check if the considerd points are in local collision.
int	checkMaxAngle (int points, tf::Stamped< tf::Pose > current_pose)
	Goes backward along global plan the max angle whith sim_time and max_rotation_vel allow.
int	checkMaxDistance (tf::Stamped< tf::Pose > current_pose)
	Goes along global plan the max distance whith sim_time and max_x_vel allow.
int	driveToward (tf::Stamped< tf::Pose > current_pose, geometry_msgs::Twist &cmd_vel)
	Drive along the global plan and calculate the velocity.
void	publishPlan (int max_point)
	Publish the global plan for visulatation.
void	reconfigureCB (FTCPlannerConfig &config, uint32_t level)
	Reconfigure config_.
bool	rotateToOrientation (double angle, geometry_msgs::Twist &cmd_vel, double accuracy)
	Rotation at place.
Private Attributes
double	cmd_vel_angular_z_
double	cmd_vel_angular_z_rotate_
double	cmd_vel_linear_x_
ftc_local_planner::FTCPlannerConfig	config_
costmap_2d::Costmap2DROS *	costmap_ros_
ftc_local_planner::FTCPlannerConfig	default_config_
dynamic_reconfigure::Server < FTCPlannerConfig > *	dsrv_
bool	first_setPlan_
std::vector < geometry_msgs::PoseStamped >	global_plan_
tf::Stamped< tf::Pose >	goal_pose_
bool	goal_reached_
JoinCostmap *	joinCostmap_
ros::Publisher	local_plan_publisher_
tf::Stamped< tf::Pose >	old_goal_pose_
bool	rotate_to_global_plan_
bool	stand_at_goal_
tf::TransformListener *	tf_
std::vector < geometry_msgs::PoseStamped >	transformed_global_plan_

Detailed Description

Definition at line 42 of file ftc_planner.h.

Constructor & Destructor Documentation

ftc_local_planner::FTCPlanner::FTCPlanner ( )

Definition at line 29 of file ftc_planner.cpp.

ftc_local_planner::FTCPlanner::~FTCPlanner ( )

Definition at line 516 of file ftc_planner.cpp.

Member Function Documentation

double ftc_local_planner::FTCPlanner::calculateGlobalPlanAngle	(	tf::Stamped< tf::Pose >	current_pose,
		const std::vector< geometry_msgs::PoseStamped > &	plan,
		int	points
	)		`[private]`

Calculate the orientation of the global plan.

Parameters:

current	robot pose
global	plan
number	of points which used for calculation

Definition at line 228 of file ftc_planner.cpp.

bool ftc_local_planner::FTCPlanner::checkCollision ( int max_points ) [private]

Check if the considerd points are in local collision.

Parameters:

points of global plan which are considerd.

Returns:: true if no collision.

Definition at line 457 of file ftc_planner.cpp.

int ftc_local_planner::FTCPlanner::checkMaxAngle	(	int	points,
		tf::Stamped< tf::Pose >	current_pose
	)		`[private]`

Goes backward along global plan the max angle whith sim_time and max_rotation_vel allow.

Parameters:

point	where starts to go backward
current	pose of the robot

Returns:: max point of the global plan with can reached

Definition at line 210 of file ftc_planner.cpp.

int ftc_local_planner::FTCPlanner::checkMaxDistance ( tf::Stamped< tf::Pose > current_pose ) [private]

Goes along global plan the max distance whith sim_time and max_x_vel allow.

Parameters:

current pose of the robot

Returns:: max point of the global plan with can reached

Definition at line 179 of file ftc_planner.cpp.

bool ftc_local_planner::FTCPlanner::computeVelocityCommands ( geometry_msgs::Twist & cmd_vel ) [virtual]

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.

Parameters:

cmd_vel Will be filled with the velocity command to be passed to the robot base

Returns:: True if a valid velocity command was found, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 107 of file ftc_planner.cpp.

int ftc_local_planner::FTCPlanner::driveToward	(	tf::Stamped< tf::Pose >	current_pose,
		geometry_msgs::Twist &	cmd_vel
	)		`[private]`

Drive along the global plan and calculate the velocity.

Parameters:

current	pose of the robot
velocity	message

Returns:: number of points of global plan which are used

Definition at line 339 of file ftc_planner.cpp.

void ftc_local_planner::FTCPlanner::initialize	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)		`[virtual]`

Constructs the local planner.

Parameters:

name	The name to give this instance of the local planner
tf	A pointer to a transform listener
costmap_ros	The cost map to use for assigning costs to local plans

Implements nav_core::BaseLocalPlanner.

Definition at line 33 of file ftc_planner.cpp.

bool ftc_local_planner::FTCPlanner::isGoalReached ( ) [virtual]

Check if the goal pose has been achieved by the local planner.