kinematic_parameters.h
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00001 /*
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00034 
00035 #ifndef DWB_PLUGINS_KINEMATIC_PARAMETERS_H
00036 #define DWB_PLUGINS_KINEMATIC_PARAMETERS_H
00037 
00038 #include <ros/ros.h>
00039 #include <dynamic_reconfigure/server.h>
00040 #include <dwb_plugins/KinematicParamsConfig.h>
00041 
00042 namespace dwb_plugins
00043 {
00044 
00049 class KinematicParameters
00050 {
00051 public:
00052   KinematicParameters();
00053   void initialize(const ros::NodeHandle& nh);
00054 
00055   inline double getMinX() { return min_vel_x_; }
00056   inline double getMaxX() { return max_vel_x_; }
00057   inline double getAccX() { return acc_lim_x_; }
00058   inline double getDecelX() { return decel_lim_x_; }
00059 
00060   inline double getMinY() { return min_vel_y_; }
00061   inline double getMaxY() { return max_vel_y_; }
00062   inline double getAccY() { return acc_lim_y_; }
00063   inline double getDecelY() { return decel_lim_y_; }
00064 
00065   inline double getMinSpeedXY() { return min_speed_xy_; }
00066 
00067   inline double getMinTheta() { return -max_vel_theta_; }
00068   inline double getMaxTheta() { return max_vel_theta_; }
00069   inline double getAccTheta() { return acc_lim_theta_; }
00070   inline double getDecelTheta() { return decel_lim_theta_; }
00071   inline double getMinSpeedTheta() { return min_speed_theta_; }
00072 
00089   bool isValidSpeed(double x, double y, double theta);
00090 
00091   using Ptr = std::shared_ptr<KinematicParameters>;
00092 protected:
00093   // For parameter descriptions, see cfg/KinematicParams.cfg
00094   double min_vel_x_, min_vel_y_;
00095   double max_vel_x_, max_vel_y_, max_vel_theta_;
00096 
00097   double min_speed_xy_, max_speed_xy_;
00098   double min_speed_theta_;
00099 
00100   double acc_lim_x_, acc_lim_y_, acc_lim_theta_;
00101   double decel_lim_x_, decel_lim_y_, decel_lim_theta_;
00102 
00103   // Cached square values of min_speed_xy and max_speed_xy
00104   double min_speed_xy_sq_, max_speed_xy_sq_;
00105 
00106   void reconfigureCB(KinematicParamsConfig &config, uint32_t level);
00107   std::shared_ptr<dynamic_reconfigure::Server<KinematicParamsConfig> > dsrv_;
00108 };
00109 
00110 }  // namespace dwb_plugins
00111 
00112 #endif  // DWB_PLUGINS_KINEMATIC_PARAMETERS_H


dwb_plugins
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autogenerated on Wed Jun 26 2019 20:09:40