A dynamically reconfigurable class containing one representation of the robot's kinematics. More...

#include <kinematic_parameters.h>

Public Member Functions
double	getAccTheta ()
double	getAccX ()
double	getAccY ()
double	getDecelTheta ()
double	getDecelX ()
double	getDecelY ()
double	getMaxTheta ()
double	getMaxX ()
double	getMaxY ()
double	getMinSpeedTheta ()
double	getMinSpeedXY ()
double	getMinTheta ()
double	getMinX ()
double	getMinY ()
void	initialize (const ros::NodeHandle &nh)
bool	isValidSpeed (double x, double y, double theta)
	Check to see whether the combined x/y/theta velocities are valid.
	KinematicParameters ()
Protected Member Functions
void	reconfigureCB (KinematicParamsConfig &config, uint32_t level)
Protected Attributes
double	acc_lim_theta_
double	acc_lim_x_
double	acc_lim_y_
double	decel_lim_theta_
double	decel_lim_x_
double	decel_lim_y_
std::shared_ptr < dynamic_reconfigure::Server < KinematicParamsConfig > >	dsrv_
double	max_speed_xy_
double	max_speed_xy_sq_
double	max_vel_theta_
double	max_vel_x_
double	max_vel_y_
double	min_speed_theta_
double	min_speed_xy_
double	min_speed_xy_sq_
double	min_vel_x_
double	min_vel_y_

Detailed Description

A dynamically reconfigurable class containing one representation of the robot's kinematics.

Definition at line 49 of file kinematic_parameters.h.

Constructor & Destructor Documentation

dwb_plugins::KinematicParameters::KinematicParameters ( )

Definition at line 63 of file kinematic_parameters.cpp.

Member Function Documentation

double dwb_plugins::KinematicParameters::getAccTheta ( ) [inline]

Definition at line 69 of file kinematic_parameters.h.

double dwb_plugins::KinematicParameters::getAccX ( ) [inline]

Definition at line 57 of file kinematic_parameters.h.

double dwb_plugins::KinematicParameters::getAccY ( ) [inline]

Definition at line 62 of file kinematic_parameters.h.

double dwb_plugins::KinematicParameters::getDecelTheta ( ) [inline]

Definition at line 70 of file kinematic_parameters.h.

double dwb_plugins::KinematicParameters::getDecelX ( ) [inline]

Definition at line 58 of file kinematic_parameters.h.

double dwb_plugins::KinematicParameters::getDecelY ( ) [inline]

Definition at line 63 of file kinematic_parameters.h.

double dwb_plugins::KinematicParameters::getMaxTheta ( ) [inline]

Definition at line 68 of file kinematic_parameters.h.

double dwb_plugins::KinematicParameters::getMaxX ( ) [inline]

Definition at line 56 of file kinematic_parameters.h.

double dwb_plugins::KinematicParameters::getMaxY ( ) [inline]

Definition at line 61 of file kinematic_parameters.h.

double dwb_plugins::KinematicParameters::getMinSpeedTheta ( ) [inline]

Definition at line 71 of file kinematic_parameters.h.

double dwb_plugins::KinematicParameters::getMinSpeedXY ( ) [inline]

Definition at line 65 of file kinematic_parameters.h.

double dwb_plugins::KinematicParameters::getMinTheta ( ) [inline]

Definition at line 67 of file kinematic_parameters.h.

double dwb_plugins::KinematicParameters::getMinX ( ) [inline]

Definition at line 55 of file kinematic_parameters.h.

double dwb_plugins::KinematicParameters::getMinY ( ) [inline]

Definition at line 60 of file kinematic_parameters.h.

void dwb_plugins::KinematicParameters::initialize ( const ros::NodeHandle & nh )

Definition at line 73 of file kinematic_parameters.cpp.

bool dwb_plugins::KinematicParameters::isValidSpeed	(	double	x,
		double	y,
		double	theta
	)

Check to see whether the combined x/y/theta velocities are valid.

Returns:: True if the magnitude hypot(x,y) and theta are within the robot's absolute limits

This is based on three parameters: min_speed_xy, max_speed_xy and min_speed_theta. The speed is valid if 1) The combined magnitude hypot(x,y) is less than max_speed_xy (or max_speed_xy is negative) AND 2) min_speed_xy is negative or min_speed_theta is negative or hypot(x,y) is greater than min_speed_xy or fabs(theta) is greater than min_speed_theta.

In English, it makes sure the diagonal motion is not too fast, and that the velocity is moving in some meaningful direction.

In Latin, quod si motus sit signum quaerit et movere ieiunium et significantissime comprehendite.

Definition at line 115 of file kinematic_parameters.cpp.