nj_oa_costmap::TwistHandler Class Reference

#include <twist_handler.h>

Inheritance diagram for nj_oa_costmap::TwistHandler:

List of all members.

Public Member Functions
geometry_msgs::Twist	getTwist (const nav_msgs::OccupancyGrid &map)
	TwistHandler (const double robot_radius, const std::string &laser_frame)
Public Attributes
unsigned int	fake_laser_beam_count
	beam count for the scan obtained from the map. Should be at least 2.
std::string	laser_frame
	Name of the frame the map is based on.
double	range_max
	(m), max range for beams that don't encounter any occupied or unknown point on the map.
Private Attributes
map_ray_caster::MapRayCaster	ray_caster_
	Ray casting with cache to compute a fake LaserScan.
tf::TransformListener	tf_listerner_

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Detailed Description

Definition at line 18 of file twist_handler.h.

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Constructor & Destructor Documentation

nj_oa_costmap::TwistHandler::TwistHandler	(	const double	robot_radius,
		const std::string &	laser_frame
	)

Definition at line 6 of file twist_handler.cpp.

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Member Function Documentation

geometry_msgs::Twist nj_oa_costmap::TwistHandler::getTwist

(

const nav_msgs::OccupancyGrid &

map

)

Definition at line 14 of file twist_handler.cpp.

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Member Data Documentation

unsigned int nj_oa_costmap::TwistHandler::fake_laser_beam_count

beam count for the scan obtained from the map. Should be at least 2.

Definition at line 27 of file twist_handler.h.

std::string nj_oa_costmap::TwistHandler::laser_frame

Name of the frame the map is based on.

Definition at line 26 of file twist_handler.h.

double nj_oa_costmap::TwistHandler::range_max

(m), max range for beams that don't encounter any occupied or unknown point on the map.

Definition at line 28 of file twist_handler.h.

map_ray_caster::MapRayCaster nj_oa_costmap::TwistHandler::ray_caster_ [private]

Ray casting with cache to compute a fake LaserScan.

Definition at line 32 of file twist_handler.h.

tf::TransformListener nj_oa_costmap::TwistHandler::tf_listerner_ [private]

Definition at line 33 of file twist_handler.h.

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

• twist_handler.h
• twist_handler.cpp