FootprintObserver Class Reference

checks the footprint of care-o-bot and advertises a service to get the adjusted footprint More...

#include <cob_footprint_observer.h>

List of all members.

Public Member Functions
void	checkFootprint ()
	checks the footprint of the robot if it needs to be enlarged due to arm or tray
	FootprintObserver ()
	constructor
bool	getFootprintCB (cob_footprint_observer::GetFootprint::Request &req, cob_footprint_observer::GetFootprint::Response &resp)
	callback for GetFootprint service
	~FootprintObserver ()
	destructor
Public Attributes
ros::NodeHandle	nh_
ros::ServiceServer	srv_get_footprint_
ros::Publisher	topic_pub_footprint_
Private Member Functions
std::vector< geometry_msgs::Point >	loadRobotFootprint (ros::NodeHandle node)
	loads the robot footprint from the costmap node
void	publishFootprint ()
	publishes the adjusted footprint as geometry_msgs::StampedPolygon message
double	sign (double x)
	computes the sign of x
Private Attributes
double	epsilon_
double	footprint_front_
double	footprint_front_initial_
double	footprint_left_
double	footprint_left_initial_
double	footprint_rear_
double	footprint_rear_initial_
double	footprint_right_
double	footprint_right_initial_
std::string	frames_to_check_
ros::Time	last_tf_missing_
pthread_mutex_t	m_mutex
std::string	robot_base_frame_
std::vector< geometry_msgs::Point >	robot_footprint_
tf::TransformListener	tf_listener_
unsigned int	times_warned_

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Detailed Description

checks the footprint of care-o-bot and advertises a service to get the adjusted footprint

Definition at line 45 of file cob_footprint_observer.h.

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Constructor & Destructor Documentation

FootprintObserver::FootprintObserver

(

)

constructor

Definition at line 21 of file cob_footprint_observer.cpp.

FootprintObserver::~FootprintObserver

(

)

destructor

Definition at line 63 of file cob_footprint_observer.cpp.

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Member Function Documentation

void FootprintObserver::checkFootprint

(

)

checks the footprint of the robot if it needs to be enlarged due to arm or tray

Definition at line 246 of file cob_footprint_observer.cpp.

bool FootprintObserver::getFootprintCB	(	cob_footprint_observer::GetFootprint::Request &	req,
		cob_footprint_observer::GetFootprint::Response &	resp
	)

callback for GetFootprint service

Parameters:

req	- request message to service
resp	- response message from service

Returns:

service call successfull

Definition at line 67 of file cob_footprint_observer.cpp.

std::vector< geometry_msgs::Point > FootprintObserver::loadRobotFootprint

(

ros::NodeHandle

node

)

[private]

loads the robot footprint from the costmap node

Parameters:

node	- costmap node to check for footprint parameter

Returns:

points of a polygon specifying the footprint

Definition at line 88 of file cob_footprint_observer.cpp.

void FootprintObserver::publishFootprint

(

)

[private]

publishes the adjusted footprint as geometry_msgs::StampedPolygon message

Definition at line 323 of file cob_footprint_observer.cpp.

double FootprintObserver::sign

(

double

x

)

[private]

computes the sign of x

Parameters:

x

- number

Returns:

sign of x

Definition at line 343 of file cob_footprint_observer.cpp.

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Member Data Documentation

double FootprintObserver::epsilon_ [private]

Definition at line 97 of file cob_footprint_observer.h.

double FootprintObserver::footprint_front_ [private]

Definition at line 99 of file cob_footprint_observer.h.

double FootprintObserver::footprint_front_initial_ [private]

Definition at line 98 of file cob_footprint_observer.h.

double FootprintObserver::footprint_left_ [private]

Definition at line 99 of file cob_footprint_observer.h.

double FootprintObserver::footprint_left_initial_ [private]

Definition at line 98 of file cob_footprint_observer.h.

double FootprintObserver::footprint_rear_ [private]

Definition at line 99 of file cob_footprint_observer.h.

double FootprintObserver::footprint_rear_initial_ [private]

Definition at line 98 of file cob_footprint_observer.h.

double FootprintObserver::footprint_right_ [private]

Definition at line 99 of file cob_footprint_observer.h.

double FootprintObserver::footprint_right_initial_ [private]

Definition at line 98 of file cob_footprint_observer.h.

std::string FootprintObserver::frames_to_check_ [private]

Definition at line 101 of file cob_footprint_observer.h.

ros::Time FootprintObserver::last_tf_missing_ [private]

Definition at line 106 of file cob_footprint_observer.h.

pthread_mutex_t FootprintObserver::m_mutex [private]

Definition at line 104 of file cob_footprint_observer.h.

ros::NodeHandle FootprintObserver::nh_

Definition at line 71 of file cob_footprint_observer.h.

std::string FootprintObserver::robot_base_frame_ [private]

Definition at line 102 of file cob_footprint_observer.h.

std::vector<geometry_msgs::Point> FootprintObserver::robot_footprint_ [private]

Definition at line 96 of file cob_footprint_observer.h.

ros::ServiceServer FootprintObserver::srv_get_footprint_

Definition at line 73 of file cob_footprint_observer.h.

tf::TransformListener FootprintObserver::tf_listener_ [private]

Definition at line 100 of file cob_footprint_observer.h.

unsigned int FootprintObserver::times_warned_ [private]

Definition at line 107 of file cob_footprint_observer.h.

ros::Publisher FootprintObserver::topic_pub_footprint_

Definition at line 72 of file cob_footprint_observer.h.

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

• cob_footprint_observer.h
• cob_footprint_observer.cpp