Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
nj_escape_crossing::CrossingEscaper Class Reference

#include <crossing_escaper.h>

Inheritance diagram for nj_escape_crossing::CrossingEscaper:
Inheritance graph
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List of all members.

Public Member Functions

 CrossingEscaper (std::string name, double escape_distance=0)

Protected Member Functions

void direction_callback (const std_msgs::Float32 &direction)
void odometry_callback (const nav_msgs::Odometry &odometry)
virtual void onStop ()
virtual void onTraverse ()

Private Member Functions

bool getCrossing ()
bool getDistanceToEscape ()
bool getExitAngleFromMap ()
void getExitDirection ()
geometry_msgs::Point goalFromOdometry (double dx, double dy)
bool goToGoal (const geometry_msgs::Point &goal, geometry_msgs::Twist &twist)
bool retrieveCrossingFromMap (int32_t descriptor_id)
bool turnToAngle (double direction, geometry_msgs::Twist &twist)

Private Attributes

bool angle_reached_
lama_msgs::Crossing crossing_
ros::ServiceClient crossing_getter_
std::string crossing_interface_name_
 Name of the map interface for crossing.
double direction_
double distance_reached_
double distance_to_escape_
 Either escape_distance_ or crossing_.radius.
double escape_distance_
 Distance to travel from crossing center (m).
ros::ServiceClient exit_angle_getter_
std::string exit_angle_interface_name_
 Name of the map interface for exit angle.
std::string exit_angle_topic_name_
 Name of the optional topic for exit angle (or direction).
bool goal_reached_
bool has_direction_
bool has_odometry_
double kp_v_
 Proportional gain for the linear velocity (s^-1).
double kp_w_
 Proportional gain for the angular velocity (s^-1).
double last_dtheta_
 Last measured dtheta, used for zero-crossing detection.
double max_angle_turn_only_
 If dtheta is greater than this, only turn, do not go forward (rad).
double max_angular_velocity_
double max_linear_velocity_
double max_odometry_age_
 If Odometry is not received withing this time, set null Twist (s).
double min_angular_velocity_
 Minimum angular set velocity (rad.s^-1).
double min_linear_velocity_
 Minimum linear set velocity (m.s^-1)
nav_msgs::Odometry odometry_
ros::Subscriber odometry_subscriber_
nav_msgs::Odometry start_position_
bool start_reached_
ros::Publisher twist_publisher_

Detailed Description

Definition at line 72 of file crossing_escaper.h.

Constructor & Destructor Documentation

nj_escape_crossing::CrossingEscaper::CrossingEscaper ( std::string  name,
double  escape_distance = 0 
)

Definition at line 6 of file crossing_escaper.cpp.

Member Function Documentation

void nj_escape_crossing::CrossingEscaper::direction_callback ( const std_msgs::Float32 &  direction) [protected]

Definition at line 178 of file crossing_escaper.cpp.

bool nj_escape_crossing::CrossingEscaper::getCrossing ( ) [private]

Definition at line 227 of file crossing_escaper.cpp.

bool nj_escape_crossing::CrossingEscaper::getDistanceToEscape ( ) [private]

Get the distance to escape (sets distance_to_escape_).

Its value is taken from, in order:

  • the escape_distance parameter,
  • the radius of the crossing associated with the requested vertex, in the case that escape_distance_ is zero.

Definition at line 191 of file crossing_escaper.cpp.

bool nj_escape_crossing::CrossingEscaper::getExitAngleFromMap ( ) [private]

Set direction_ to the exit angle descriptor associated with goal_.edge

Returns:
false if no such descriptor was found, true otherwise.

Definition at line 347 of file crossing_escaper.cpp.

void nj_escape_crossing::CrossingEscaper::getExitDirection ( ) [private]

Retrieve the direction in which to exit and wait for odometry.

The odometry gives the start position.

In order:

  • The exit_angle descriptor associated with the vertex.
  • the value from topic exit_angle_topic_name_, if no exit_angle descriptor is available.

Definition at line 298 of file crossing_escaper.cpp.

geometry_msgs::Point nj_escape_crossing::CrossingEscaper::goalFromOdometry ( double  dx,
double  dy 
) [private]

Return the relative goal from current robot position and start position

Parameters:
[in]dxrelative goal, at start.
[in]dyrelative goal, at start.

Definition at line 505 of file crossing_escaper.cpp.

bool nj_escape_crossing::CrossingEscaper::goToGoal ( const geometry_msgs::Point &  goal,
geometry_msgs::Twist &  twist 
) [private]

GoToGoal behavior

Parameters:
[in]goalrelative goal.
[out]twistset velocity.
Returns:
true if the goal is reached.

Definition at line 422 of file crossing_escaper.cpp.

void nj_escape_crossing::CrossingEscaper::odometry_callback ( const nav_msgs::Odometry &  odometry) [protected]

Definition at line 172 of file crossing_escaper.cpp.

void nj_escape_crossing::CrossingEscaper::onStop ( ) [protected, virtual]

Implements lama_jockeys::NavigatingJockey.

Definition at line 159 of file crossing_escaper.cpp.

void nj_escape_crossing::CrossingEscaper::onTraverse ( ) [protected, virtual]

Go to start vertex, orient, go far.

First go to the start vertex of the edge to traverse, then orient the robot, then travel at least "distance_to_escape_".

Implements lama_jockeys::NavigatingJockey.

Definition at line 52 of file crossing_escaper.cpp.

bool nj_escape_crossing::CrossingEscaper::retrieveCrossingFromMap ( int32_t  descriptor_id) [private]

Definition at line 274 of file crossing_escaper.cpp.

bool nj_escape_crossing::CrossingEscaper::turnToAngle ( double  direction,
geometry_msgs::Twist &  twist 
) [private]

GoToGoal behavior for pure rotation

Parameters:
[in]directiondirection the robot should have at the end (in odometry_ frame).
[out]twistset velocity.
Returns:
true if the goal is reached.

Definition at line 390 of file crossing_escaper.cpp.

Member Data Documentation

bool nj_escape_crossing::CrossingEscaper::angle_reached_ [private]

Definition at line 121 of file crossing_escaper.h.

lama_msgs::Crossing nj_escape_crossing::CrossingEscaper::crossing_ [private]

Definition at line 124 of file crossing_escaper.h.

ros::ServiceClient nj_escape_crossing::CrossingEscaper::crossing_getter_ [private]

Definition at line 100 of file crossing_escaper.h.

std::string nj_escape_crossing::CrossingEscaper::crossing_interface_name_ [private]

Name of the map interface for crossing.

Definition at line 130 of file crossing_escaper.h.

double nj_escape_crossing::CrossingEscaper::direction_ [private]

Definition at line 126 of file crossing_escaper.h.

double nj_escape_crossing::CrossingEscaper::distance_reached_ [private]

Distance when considering reached target when going to the start vertex (m).

Definition at line 113 of file crossing_escaper.h.

double nj_escape_crossing::CrossingEscaper::distance_to_escape_ [private]

Either escape_distance_ or crossing_.radius.

Definition at line 129 of file crossing_escaper.h.

double nj_escape_crossing::CrossingEscaper::escape_distance_ [private]

Distance to travel from crossing center (m).

Definition at line 112 of file crossing_escaper.h.

ros::ServiceClient nj_escape_crossing::CrossingEscaper::exit_angle_getter_ [private]

Definition at line 101 of file crossing_escaper.h.

std::string nj_escape_crossing::CrossingEscaper::exit_angle_interface_name_ [private]

Name of the map interface for exit angle.

Definition at line 131 of file crossing_escaper.h.

std::string nj_escape_crossing::CrossingEscaper::exit_angle_topic_name_ [private]

Name of the optional topic for exit angle (or direction).

Definition at line 117 of file crossing_escaper.h.

bool nj_escape_crossing::CrossingEscaper::goal_reached_ [private]

Reimplemented from lama_jockeys::NavigatingJockey.

Definition at line 122 of file crossing_escaper.h.

bool nj_escape_crossing::CrossingEscaper::has_direction_ [private]

Definition at line 127 of file crossing_escaper.h.

bool nj_escape_crossing::CrossingEscaper::has_odometry_ [private]

Definition at line 123 of file crossing_escaper.h.

double nj_escape_crossing::CrossingEscaper::kp_v_ [private]

Proportional gain for the linear velocity (s^-1).

Reimplemented from lama_jockeys::NavigatingJockey.

Definition at line 104 of file crossing_escaper.h.

double nj_escape_crossing::CrossingEscaper::kp_w_ [private]

Proportional gain for the angular velocity (s^-1).

Reimplemented from lama_jockeys::NavigatingJockey.

Definition at line 105 of file crossing_escaper.h.

double nj_escape_crossing::CrossingEscaper::last_dtheta_ [private]

Last measured dtheta, used for zero-crossing detection.

Definition at line 132 of file crossing_escaper.h.

double nj_escape_crossing::CrossingEscaper::max_angle_turn_only_ [private]

If dtheta is greater than this, only turn, do not go forward (rad).

Definition at line 115 of file crossing_escaper.h.

double nj_escape_crossing::CrossingEscaper::max_angular_velocity_ [private]

maximum angular set velocity (rad.s^-1). if set to 0, the angular velocity is not throttled.

Definition at line 110 of file crossing_escaper.h.

double nj_escape_crossing::CrossingEscaper::max_linear_velocity_ [private]

Maximum linear set velocity (m.s^-1). If set to 0, the velocity is not throttled.

Definition at line 107 of file crossing_escaper.h.

double nj_escape_crossing::CrossingEscaper::max_odometry_age_ [private]

If Odometry is not received withing this time, set null Twist (s).

Definition at line 116 of file crossing_escaper.h.

double nj_escape_crossing::CrossingEscaper::min_angular_velocity_ [private]

Minimum angular set velocity (rad.s^-1).

Definition at line 109 of file crossing_escaper.h.

double nj_escape_crossing::CrossingEscaper::min_linear_velocity_ [private]

Minimum linear set velocity (m.s^-1)

Definition at line 106 of file crossing_escaper.h.

nav_msgs::Odometry nj_escape_crossing::CrossingEscaper::odometry_ [private]

Definition at line 125 of file crossing_escaper.h.

ros::Subscriber nj_escape_crossing::CrossingEscaper::odometry_subscriber_ [private]

Definition at line 98 of file crossing_escaper.h.

nav_msgs::Odometry nj_escape_crossing::CrossingEscaper::start_position_ [private]

Definition at line 128 of file crossing_escaper.h.

bool nj_escape_crossing::CrossingEscaper::start_reached_ [private]

Definition at line 120 of file crossing_escaper.h.

ros::Publisher nj_escape_crossing::CrossingEscaper::twist_publisher_ [private]

Definition at line 99 of file crossing_escaper.h.

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

nj_escape_crossing
Author(s): Gaël Ecorchard
autogenerated on Thu Jun 6 2019 22:02:11