#include <eband_trajectory_controller.h>

Public Member Functions
	EBandTrajectoryCtrl ()
	Default constructor.
	EBandTrajectoryCtrl (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Constructs the elastic band object.
bool	getTwist (geometry_msgs::Twist &twist_cmd, bool &goal_reached)
	calculates a twist feedforward command from the current band
bool	getTwistDifferentialDrive (geometry_msgs::Twist &twist_cmd, bool &goal_reached)
void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initializes the elastic band class by accesing costmap and loading parameters.
void	reconfigure (EBandPlannerConfig &config)
	Reconfigures the parameters of the planner.
bool	setBand (const std::vector< Bubble > &elastic_band)
	This sets the elastic_band to the trajectory controller.
bool	setOdometry (const nav_msgs::Odometry &odometry)
	This sets the robot velocity as provided by odometry.
void	setVisualization (boost::shared_ptr< EBandVisualization > target_visual)
	passes a reference to the eband visualization object which can be used to visualize the band optimization
	~EBandTrajectoryCtrl ()
	Destructor.
Private Member Functions
double	getBubbleTargetVel (const int &target_bub_num, const std::vector< Bubble > &band, geometry_msgs::Twist &VelDir)
	gets the max velocity allowed within this bubble depending on size of the bubble and pose and size of the following bubble
geometry_msgs::Twist	getFrame1ToFrame2InRefFrame (const geometry_msgs::Pose &frame1, const geometry_msgs::Pose &frame2, const geometry_msgs::Pose &ref_frame)
	Transforms Pose of frame 1 and 2 into reference frame and gets difference of frame 1 and 2.
geometry_msgs::Twist	getFrame1ToFrame2InRefFrameNew (const geometry_msgs::Pose &frame1, const geometry_msgs::Pose &frame2, const geometry_msgs::Pose &ref_frame)
geometry_msgs::Twist	limitTwist (const geometry_msgs::Twist &twist)
	limits the twist to the allowed range
double	sign (double n)
	defines sign of a double
geometry_msgs::Twist	transformTwistFromFrame1ToFrame2 (const geometry_msgs::Twist &curr_twist, const geometry_msgs::Pose &frame1, const geometry_msgs::Pose &frame2)
Private Attributes
double	acc_max_
double	acc_max_rot_
double	acc_max_trans_
bool	band_set_
double	bubble_velocity_multiplier_
costmap_2d::Costmap2DROS *	costmap_ros_
	pointer to costmap
double	ctrl_freq_
bool	differential_drive_hack_
bool	disallow_hysteresis_
std::vector< Bubble >	elastic_band_
bool	in_final_goal_turn_
double	in_place_trans_vel_
bool	initialized_
double	k_nu_
double	k_p_
geometry_msgs::Twist	last_vel_
double	max_vel_lin_
double	max_vel_th_
double	min_in_place_vel_th_
double	min_vel_lin_
double	min_vel_th_
geometry_msgs::Twist	odom_vel_
control_toolbox::Pid	pid_
geometry_msgs::Pose	ref_frame_band_
double	rotation_correction_threshold_
double	rotation_threshold_multiplier_
boost::shared_ptr < EBandVisualization >	target_visual_
double	tolerance_rot_
double	tolerance_trans_
double	virt_mass_
bool	visualization_

Detailed Description

Definition at line 71 of file eband_trajectory_controller.h.

Constructor & Destructor Documentation

eband_local_planner::EBandTrajectoryCtrl::EBandTrajectoryCtrl ( )

Default constructor.

Definition at line 48 of file eband_trajectory_controller.cpp.

eband_local_planner::EBandTrajectoryCtrl::EBandTrajectoryCtrl	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Constructs the elastic band object.

Parameters:

name	The name to give this instance of the elastic band local planner
costmap	The cost map to use for assigning costs to trajectories

Definition at line 51 of file eband_trajectory_controller.cpp.

eband_local_planner::EBandTrajectoryCtrl::~EBandTrajectoryCtrl ( )

Destructor.

Definition at line 62 of file eband_trajectory_controller.cpp.

Member Function Documentation

double eband_local_planner::EBandTrajectoryCtrl::getBubbleTargetVel	(	const int &	target_bub_num,
		const std::vector< Bubble > &	band,
		geometry_msgs::Twist &	VelDir
	)		`[private]`

gets the max velocity allowed within this bubble depending on size of the bubble and pose and size of the following bubble

Parameters:

number	of the bubble of interest within the band
band	in which the bubble is in

Returns:: absolute value of maximum allowed velocity within this bubble

Definition at line 707 of file eband_trajectory_controller.cpp.

geometry_msgs::Twist eband_local_planner::EBandTrajectoryCtrl::getFrame1ToFrame2InRefFrame	(	const geometry_msgs::Pose &	frame1,
		const geometry_msgs::Pose &	frame2,
		const geometry_msgs::Pose &	ref_frame
	)		`[private]`

Transforms Pose of frame 1 and 2 into reference frame and gets difference of frame 1 and 2.

Parameters:

refernce	to pose of frame1
reference	to pose of frame2
reference	to pose of reference frame

Returns:: vector from frame1 to frame2 in coordinates of the reference frame

Definition at line 767 of file eband_trajectory_controller.cpp.

geometry_msgs::Twist eband_local_planner::EBandTrajectoryCtrl::getFrame1ToFrame2InRefFrameNew	(	const geometry_msgs::Pose &	frame1,
		const geometry_msgs::Pose &	frame2,
		const geometry_msgs::Pose &	ref_frame
	)		`[private]`

Definition at line 807 of file eband_trajectory_controller.cpp.

bool eband_local_planner::EBandTrajectoryCtrl::getTwist	(	geometry_msgs::Twist &	twist_cmd,
		bool &	goal_reached
	)

calculates a twist feedforward command from the current band

Parameters:

refernce to the twist cmd

Definition at line 353 of file eband_trajectory_controller.cpp.

bool eband_local_planner::EBandTrajectoryCtrl::getTwistDifferentialDrive	(	geometry_msgs::Twist &	twist_cmd,
		bool &	goal_reached
	)

Definition at line 177 of file eband_trajectory_controller.cpp.

void eband_local_planner::EBandTrajectoryCtrl::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Initializes the elastic band class by accesing costmap and loading parameters.

Parameters:

name	The name to give this instance of the trajectory planner
costmap	The cost map to use for assigning costs to trajectories

Definition at line 65 of file eband_trajectory_controller.cpp.

geometry_msgs::Twist eband_local_planner::EBandTrajectoryCtrl::limitTwist ( const geometry_msgs::Twist & twist ) [private]

limits the twist to the allowed range

Parameters:

reference to unconstrained twist

Returns:: twist in allowed range

Definition at line 859 of file eband_trajectory_controller.cpp.

void eband_local_planner::EBandTrajectoryCtrl::reconfigure ( EBandPlannerConfig & config )

Reconfigures the parameters of the planner.

Parameters:

config The dynamic reconfigure configuration

Definition at line 104 of file eband_trajectory_controller.cpp.

bool eband_local_planner::EBandTrajectoryCtrl::setBand ( const std::vector< Bubble > & elastic_band )

This sets the elastic_band to the trajectory controller.

Parameters:

reference via which the band is passed

Definition at line 139 of file eband_trajectory_controller.cpp.

bool eband_local_planner::EBandTrajectoryCtrl::setOdometry ( const nav_msgs::Odometry & odometry )

This sets the robot velocity as provided by odometry.

Parameters:

reference via which odometry is passed

Definition at line 147 of file eband_trajectory_controller.cpp.

void eband_local_planner::EBandTrajectoryCtrl::setVisualization ( boost::shared_ptr< EBandVisualization > target_visual )

passes a reference to the eband visualization object which can be used to visualize the band optimization

Parameters:

pointer to visualization object

Definition at line 132 of file eband_trajectory_controller.cpp.

double eband_local_planner::EBandTrajectoryCtrl::sign ( double n ) [inline, private]

defines sign of a double

Definition at line 166 of file eband_trajectory_controller.h.

geometry_msgs::Twist eband_local_planner::EBandTrajectoryCtrl::transformTwistFromFrame1ToFrame2	(	const geometry_msgs::Twist &	curr_twist,
		const geometry_msgs::Pose &	frame1,
		const geometry_msgs::Pose &	frame2
	)		`[private]`