Standard DWA-like trajectory generator. More...

#include <standard_traj_generator.h>

Inheritance diagram for dwb_plugins::StandardTrajectoryGenerator:

Public Member Functions
dwb_msgs::Trajectory2D	generateTrajectory (const geometry_msgs::Pose2D &start_pose, const nav_2d_msgs::Twist2D &start_vel, const nav_2d_msgs::Twist2D &cmd_vel) override
bool	hasMoreTwists () override
void	initialize (ros::NodeHandle &nh) override
nav_2d_msgs::Twist2D	nextTwist () override
void	startNewIteration (const nav_2d_msgs::Twist2D &current_velocity) override
Protected Member Functions
virtual void	checkUseDwaParam (const ros::NodeHandle &nh)
	Check if the deprecated use_dwa parameter is set to the functionality that matches this class.
virtual geometry_msgs::Pose2D	computeNewPosition (const geometry_msgs::Pose2D start_pose, const nav_2d_msgs::Twist2D &vel, const double dt)
	Use the robot's kinematic model to predict new positions for the robot.
virtual nav_2d_msgs::Twist2D	computeNewVelocity (const nav_2d_msgs::Twist2D &cmd_vel, const nav_2d_msgs::Twist2D &start_vel, const double dt)
	Calculate the velocity after a set period of time, given the desired velocity and acceleration limits.
virtual std::vector< double >	getTimeSteps (const nav_2d_msgs::Twist2D &cmd_vel)
	Compute an array of time deltas between the points in the generated trajectory.
virtual void	initializeIterator (ros::NodeHandle &nh)
	Initialize the VelocityIterator pointer. Put in its own function for easy overriding.
Protected Attributes
double	angular_granularity_
	If not discretizing by time, the amount of angular space between points.
bool	discretize_by_time_
bool	include_last_point_
KinematicParameters::Ptr	kinematics_
double	linear_granularity_
	If not discretizing by time, the amount of linear space between points.
double	sim_time_
double	time_granularity_
	If discretizing by time, the amount of time between each point in the traj.
std::shared_ptr< VelocityIterator >	velocity_iterator_

Detailed Description

Standard DWA-like trajectory generator.

Definition at line 52 of file standard_traj_generator.h.

Member Function Documentation

void dwb_plugins::StandardTrajectoryGenerator::checkUseDwaParam ( const ros::NodeHandle & nh ) [protected, virtual]

Check if the deprecated use_dwa parameter is set to the functionality that matches this class.

The functionality guarded by the use_dwa parameter has been split between this class and the derived LimitedAccelGenerator. If use_dwa was false, this class should be used. If it was true, then LimitedAccelGenerator. If this is NOT the case, this function will throw an exception.

Reimplemented in dwb_plugins::LimitedAccelGenerator.

Definition at line 86 of file standard_traj_generator.cpp.

geometry_msgs::Pose2D dwb_plugins::StandardTrajectoryGenerator::computeNewPosition	(	const geometry_msgs::Pose2D	start_pose,
		const nav_2d_msgs::Twist2D &	vel,
		const double	dt
	)		`[protected, virtual]`

Use the robot's kinematic model to predict new positions for the robot.

Parameters:

start_pose	Starting pose
vel	Actual robot velocity (assumed to be within acceleration limits)
dt	amount of time in seconds

Returns:: New pose after dt seconds

Definition at line 189 of file standard_traj_generator.cpp.

nav_2d_msgs::Twist2D dwb_plugins::StandardTrajectoryGenerator::computeNewVelocity	(	const nav_2d_msgs::Twist2D &	cmd_vel,
		const nav_2d_msgs::Twist2D &	start_vel,
		const double	dt
	)		`[protected, virtual]`

Calculate the velocity after a set period of time, given the desired velocity and acceleration limits.

Parameters:

cmd_vel	Desired velocity
start_vel	starting velocity
dt	amount of time in seconds

Returns:: new velocity after dt seconds

change vel using acceleration limits to converge towards sample_target-vel

Reimplemented in dwb_plugins::LimitedAccelGenerator.

Definition at line 178 of file standard_traj_generator.cpp.

dwb_msgs::Trajectory2D dwb_plugins::StandardTrajectoryGenerator::generateTrajectory	(	const geometry_msgs::Pose2D &	start_pose,
		const nav_2d_msgs::Twist2D &	start_vel,
		const nav_2d_msgs::Twist2D &	cmd_vel
	)		`[override, virtual]`

Implements dwb_local_planner::TrajectoryGenerator.

Definition at line 142 of file standard_traj_generator.cpp.

std::vector< double > dwb_plugins::StandardTrajectoryGenerator::getTimeSteps ( const nav_2d_msgs::Twist2D & cmd_vel ) [protected, virtual]

Compute an array of time deltas between the points in the generated trajectory.

Parameters:

cmd_vel The desired command velocity

Returns:: vector of the difference between each time step in the generated trajectory

If we are discretizing by time, the returned vector will be the same constant time_granularity for all cmd_vels. Otherwise, you will get times based on the linear/angular granularity.

Right now the vector contains a single value repeated many times, but this method could be overridden to allow for dynamic spacing

Definition at line 112 of file standard_traj_generator.cpp.

bool dwb_plugins::StandardTrajectoryGenerator::hasMoreTwists ( ) [override, virtual]

Implements dwb_local_planner::TrajectoryGenerator.

Definition at line 102 of file standard_traj_generator.cpp.

void dwb_plugins::StandardTrajectoryGenerator::initialize ( ros::NodeHandle & nh ) [override, virtual]

Implements dwb_local_planner::TrajectoryGenerator.

Reimplemented in dwb_plugins::LimitedAccelGenerator.

Definition at line 49 of file standard_traj_generator.cpp.

void dwb_plugins::StandardTrajectoryGenerator::initializeIterator ( ros::NodeHandle & nh ) [protected, virtual]

Initialize the VelocityIterator pointer. Put in its own function for easy overriding.

Definition at line 80 of file standard_traj_generator.cpp.

nav_2d_msgs::Twist2D dwb_plugins::StandardTrajectoryGenerator::nextTwist ( ) [override, virtual]

Implements dwb_local_planner::TrajectoryGenerator.

Definition at line 107 of file standard_traj_generator.cpp.

void dwb_plugins::StandardTrajectoryGenerator::startNewIteration ( const nav_2d_msgs::Twist2D & current_velocity ) [override, virtual]

Implements dwb_local_planner::TrajectoryGenerator.

Reimplemented in dwb_plugins::LimitedAccelGenerator.

Definition at line 97 of file standard_traj_generator.cpp.

Member Data Documentation

double dwb_plugins::StandardTrajectoryGenerator::angular_granularity_ [protected]

If not discretizing by time, the amount of angular space between points.

Definition at line 127 of file standard_traj_generator.h.

bool dwb_plugins::StandardTrajectoryGenerator::discretize_by_time_ [protected]

Definition at line 124 of file standard_traj_generator.h.

bool dwb_plugins::StandardTrajectoryGenerator::include_last_point_ [protected]

Definition at line 142 of file standard_traj_generator.h.

KinematicParameters::Ptr dwb_plugins::StandardTrajectoryGenerator::kinematics_ [protected]

Definition at line 118 of file standard_traj_generator.h.

double dwb_plugins::StandardTrajectoryGenerator::linear_granularity_ [protected]

If not discretizing by time, the amount of linear space between points.

Definition at line 126 of file standard_traj_generator.h.

double dwb_plugins::StandardTrajectoryGenerator::sim_time_ [protected]

Definition at line 121 of file standard_traj_generator.h.

double dwb_plugins::StandardTrajectoryGenerator::time_granularity_ [protected]

If discretizing by time, the amount of time between each point in the traj.

Definition at line 125 of file standard_traj_generator.h.

std::shared_ptr<VelocityIterator> dwb_plugins::StandardTrajectoryGenerator::velocity_iterator_ [protected]

Definition at line 119 of file standard_traj_generator.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

Member Data Documentation