#include <navigating_jockey.h>
Public Member Functions | |
| double | get_kp_v () |
| double | get_kp_w () |
| double | get_max_goal_distance () |
| double | get_max_goal_dtheta () |
| double | get_min_velocity () |
| double | get_reach_distance () |
| void | set_kp_v (double val) |
| void | set_kp_w (double val) |
| void | set_max_goal_distance (double d) |
| void | set_max_goal_dtheta (double d) |
| void | set_min_velocity (double val) |
| void | set_reach_distance (double d) |
Protected Member Functions | |
| virtual geometry_msgs::Twist | goToGoal (const geometry_msgs::Point &goal) |
| void | initAction () |
| bool | isGoalReached () |
| NavigatingJockey (const std::string &name) | |
| virtual void | onContinue () |
| virtual void | onInterrupt () |
| virtual void | onStop ()=0 |
| virtual void | onTraverse ()=0 |
| void | setGoalReached () |
| void | unsetGoalReached () |
Protected Attributes | |
| lama_jockeys::NavigateFeedback | feedback_ |
| lama_jockeys::NavigateGoal | goal_ |
| lama_jockeys::NavigateResult | result_ |
| NavigateServer | server_ |
Private Member Functions | |
| void | goalCallback (const lama_jockeys::NavigateGoalConstPtr &goal) |
| void | preemptCallback () |
Private Attributes | |
| bool | goal_reached_ |
| double | kp_v_ |
| Proportional gain for the linear velocity (s^-1). | |
| double | kp_w_ |
| Proportional gain for the angular velocity (s^-1). | |
| double | max_goal_distance_ |
| If the goal is farther than this distance, stop the robot. | |
| double | max_goal_dtheta_ |
| The goal angular distance will be limited to this. | |
| double | min_velocity_ |
| Minimum set velocity (m.s^-1) | |
| double | reach_distance_ |
| Goal is reached if closer than this (m). | |
Detailed Description
Definition at line 27 of file navigating_jockey.h.
Constructor & Destructor Documentation
| lama_jockeys::NavigatingJockey::NavigatingJockey | ( | const std::string & | name | ) | [protected] |
Definition at line 6 of file navigating_jockey.cpp.
Member Function Documentation
| double lama_jockeys::NavigatingJockey::get_kp_v | ( | ) | [inline] |
Definition at line 37 of file navigating_jockey.h.
| double lama_jockeys::NavigatingJockey::get_kp_w | ( | ) | [inline] |
Definition at line 40 of file navigating_jockey.h.
| double lama_jockeys::NavigatingJockey::get_max_goal_distance | ( | ) | [inline] |
Definition at line 31 of file navigating_jockey.h.
| double lama_jockeys::NavigatingJockey::get_max_goal_dtheta | ( | ) | [inline] |
Definition at line 34 of file navigating_jockey.h.
| double lama_jockeys::NavigatingJockey::get_min_velocity | ( | ) | [inline] |
Definition at line 43 of file navigating_jockey.h.
| double lama_jockeys::NavigatingJockey::get_reach_distance | ( | ) | [inline] |
Definition at line 46 of file navigating_jockey.h.
| void lama_jockeys::NavigatingJockey::goalCallback | ( | const lama_jockeys::NavigateGoalConstPtr & | goal | ) | [private] |
Definition at line 30 of file navigating_jockey.cpp.
| geometry_msgs::Twist lama_jockeys::NavigatingJockey::goToGoal | ( | const geometry_msgs::Point & | goal | ) | [protected, virtual] |
Return the twist to reach the given goal pose
There is no cycle in this function, so it should be called periodically by class instances.
goal[in] position of the goal relative to the robot
Definition at line 104 of file navigating_jockey.cpp.
| void lama_jockeys::NavigatingJockey::initAction | ( | ) | [protected] |
Reimplemented from lama_jockeys::Jockey.
Definition at line 82 of file navigating_jockey.cpp.
| bool lama_jockeys::NavigatingJockey::isGoalReached | ( | ) | [inline, protected] |
Definition at line 66 of file navigating_jockey.h.
| void lama_jockeys::NavigatingJockey::onContinue | ( | ) | [protected, virtual] |
Reimplemented from lama_jockeys::Jockey.
Definition at line 93 of file navigating_jockey.cpp.
| void lama_jockeys::NavigatingJockey::onInterrupt | ( | ) | [protected, virtual] |
Reimplemented from lama_jockeys::Jockey.
Definition at line 88 of file navigating_jockey.cpp.
| virtual void lama_jockeys::NavigatingJockey::onStop | ( | ) | [protected, pure virtual] |
| virtual void lama_jockeys::NavigatingJockey::onTraverse | ( | ) | [protected, pure virtual] |
| void lama_jockeys::NavigatingJockey::preemptCallback | ( | ) | [private] |
Definition at line 75 of file navigating_jockey.cpp.
| void lama_jockeys::NavigatingJockey::set_kp_v | ( | double | val | ) | [inline] |
Definition at line 38 of file navigating_jockey.h.
| void lama_jockeys::NavigatingJockey::set_kp_w | ( | double | val | ) | [inline] |
Definition at line 41 of file navigating_jockey.h.
| void lama_jockeys::NavigatingJockey::set_max_goal_distance | ( | double | d | ) | [inline] |
Definition at line 32 of file navigating_jockey.h.
| void lama_jockeys::NavigatingJockey::set_max_goal_dtheta | ( | double | d | ) | [inline] |
Definition at line 35 of file navigating_jockey.h.
| void lama_jockeys::NavigatingJockey::set_min_velocity | ( | double | val | ) | [inline] |
Definition at line 44 of file navigating_jockey.h.
| void lama_jockeys::NavigatingJockey::set_reach_distance | ( | double | d | ) | [inline] |
Definition at line 47 of file navigating_jockey.h.
| void lama_jockeys::NavigatingJockey::setGoalReached | ( | ) | [inline, protected] |
Definition at line 64 of file navigating_jockey.h.
| void lama_jockeys::NavigatingJockey::unsetGoalReached | ( | ) | [inline, protected] |
Definition at line 65 of file navigating_jockey.h.
Member Data Documentation
lama_jockeys::NavigateFeedback lama_jockeys::NavigatingJockey::feedback_ [protected] |
Definition at line 72 of file navigating_jockey.h.
lama_jockeys::NavigateGoal lama_jockeys::NavigatingJockey::goal_ [protected] |
Definition at line 77 of file navigating_jockey.h.
bool lama_jockeys::NavigatingJockey::goal_reached_ [private] |
Definition at line 88 of file navigating_jockey.h.
double lama_jockeys::NavigatingJockey::kp_v_ [private] |
Proportional gain for the linear velocity (s^-1).
Definition at line 91 of file navigating_jockey.h.
double lama_jockeys::NavigatingJockey::kp_w_ [private] |
Proportional gain for the angular velocity (s^-1).
Definition at line 92 of file navigating_jockey.h.
double lama_jockeys::NavigatingJockey::max_goal_distance_ [private] |
If the goal is farther than this distance, stop the robot.
Definition at line 89 of file navigating_jockey.h.
double lama_jockeys::NavigatingJockey::max_goal_dtheta_ [private] |
The goal angular distance will be limited to this.
Definition at line 90 of file navigating_jockey.h.
double lama_jockeys::NavigatingJockey::min_velocity_ [private] |
Minimum set velocity (m.s^-1)
Definition at line 93 of file navigating_jockey.h.
double lama_jockeys::NavigatingJockey::reach_distance_ [private] |
Goal is reached if closer than this (m).
Definition at line 94 of file navigating_jockey.h.
lama_jockeys::NavigateResult lama_jockeys::NavigatingJockey::result_ [protected] |
Definition at line 71 of file navigating_jockey.h.
Definition at line 70 of file navigating_jockey.h.
The documentation for this class was generated from the following files: