#include <twist_handler.h>

Public Member Functions
geometry_msgs::Twist	getTwist (const sensor_msgs::LaserScan &scan)
	TwistHandler (const double robot_radius)
Public Attributes
double	force_turn_left_factor
double	long_distance
	(m), if no obstacle within this distance, go straight.
double	long_lateral_distance
	If no obstacle within this lateral distance, go straight (m).
double	max_angular_velocity
	Max angular velocity around z (rad/s).
double	max_linear_velocity
	Linear velocity in x-direction without obstacle (m/s).
double	min_distance
	(m), if an obstacle is closer (y-direction) than this, turn and don't go forward.
double	robot_radius
	(m), robot radius.
double	short_lateral_distance
	If obstacle within this lateral distance, turn and don't go forward (m)
double	turnrate_collide
	(rad/s), turn rate when obstacle closer than min_distance.
double	turnrate_factor
double	vel_close_obstacle
	(m/s), linear velocity if obstacle between min_distance and long_distance.

Detailed Description

Definition at line 14 of file twist_handler.h.

Constructor & Destructor Documentation

nj_oa_laser::TwistHandler::TwistHandler ( const double robot_radius )

Definition at line 8 of file twist_handler.cpp.

Member Function Documentation

geometry_msgs::Twist nj_oa_laser::TwistHandler::getTwist ( const sensor_msgs::LaserScan & scan )

Return the twist to avoid obstacles

The algorithm considers only beams in [-pi, pi]. The robot will turn in the direction where the mean obstacle distance is larger. The algorithm has 4 behaviors:

if the robot is in a corner (mean distance in front < 2 collide distance), turn left.
if obstacles are close (collide distance), only turn towards free space.
if obstacles are close but farther than the collide distance, go forward and turn proportionnally to the mean side distance to obstacles.
if obstacles are far, go strictly forward.

Definition at line 34 of file twist_handler.cpp.