limited_accel_generator.cpp
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00001 /*
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00004  *  Copyright (c) 2017, Locus Robotics
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00034 
00035 #include <dwb_plugins/limited_accel_generator.h>
00036 #include <nav_2d_utils/parameters.h>
00037 #include <pluginlib/class_list_macros.h>
00038 #include <nav_core2/exceptions.h>
00039 #include <vector>
00040 
00041 namespace dwb_plugins
00042 {
00043 
00044 void LimitedAccelGenerator::initialize(ros::NodeHandle& nh)
00045 {
00046   StandardTrajectoryGenerator::initialize(nh);
00047   if (nh.hasParam("sim_period"))
00048   {
00049     nh.getParam("sim_period", acceleration_time_);
00050   }
00051   else
00052   {
00053     double controller_frequency = nav_2d_utils::searchAndGetParam(nh, "controller_frequency", 20.0);
00054     if (controller_frequency > 0)
00055     {
00056       acceleration_time_ = 1.0 / controller_frequency;
00057     }
00058     else
00059     {
00060       ROS_WARN_NAMED("LimitedAccelGenerator", "A controller_frequency less than or equal to 0 has been set. "
00061                                               "Ignoring the parameter, assuming a rate of 20Hz");
00062       acceleration_time_ = 0.05;
00063     }
00064   }
00065 }
00066 
00067 void LimitedAccelGenerator::checkUseDwaParam(const ros::NodeHandle& nh)
00068 {
00069   bool use_dwa;
00070   nh.param("use_dwa", use_dwa, true);
00071   if (!use_dwa)
00072   {
00073     throw nav_core2::PlannerException("Deprecated parameter use_dwa set to false. "
00074                                       "Please use StandardTrajectoryGenerator for that functionality.");
00075   }
00076 }
00077 
00078 void LimitedAccelGenerator::startNewIteration(const nav_2d_msgs::Twist2D& current_velocity)
00079 {
00080   // Limit our search space to just those within the limited acceleration_time
00081   velocity_iterator_->startNewIteration(current_velocity, acceleration_time_);
00082 }
00083 
00084 nav_2d_msgs::Twist2D LimitedAccelGenerator::computeNewVelocity(const nav_2d_msgs::Twist2D& cmd_vel,
00085     const nav_2d_msgs::Twist2D& start_vel, const double dt)
00086 {
00087   return cmd_vel;
00088 }
00089 
00090 }  // namespace dwb_plugins
00091 
00092 PLUGINLIB_EXPORT_CLASS(dwb_plugins::LimitedAccelGenerator, dwb_local_planner::TrajectoryGenerator)


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