Public Member Functions | Private Types | Private Member Functions | Private Attributes
pose_base_controller::PoseBaseController Class Reference

#include <pose_base_controller.h>

List of all members.

Public Member Functions

bool controlLoop (const move_base_msgs::MoveBaseGoal &current_goal)
geometry_msgs::Twist diff2D (const tf::Pose &pose1, const tf::Pose &pose2)
void execute (const move_base_msgs::MoveBaseGoalConstPtr &user_goal)
tf::Stamped< tf::PosegetRobotPose ()
move_base_msgs::MoveBaseGoal goalToFixedFrame (const move_base_msgs::MoveBaseGoal &goal)
double headingDiff (double pt_x, double pt_y, double x, double y, double heading)
geometry_msgs::Twist limitTwist (const geometry_msgs::Twist &twist)
 PoseBaseController ()
double sign (double n)
 ~PoseBaseController ()

Private Types

typedef
actionlib::SimpleActionServer
< move_base_msgs::MoveBaseAction > 
MoveBaseActionServer

Private Member Functions

void odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
bool stopped ()

Private Attributes

MoveBaseActionServer action_server_
std::string base_frame_
nav_msgs::Odometry base_odom_
std::string fixed_frame_
double freq_
bool holonomic_
double in_place_trans_vel_
double K_rot_
double K_trans_
double max_vel_lin_
double max_vel_th_
double min_in_place_vel_th_
double min_vel_lin_
double min_vel_th_
boost::mutex odom_lock_
ros::Subscriber odom_sub_
double rot_stopped_velocity_
tf::TransformListener tf_
double tolerance_rot_
double tolerance_timeout_
double tolerance_trans_
double trans_stopped_velocity_
double transform_tolerance_
ros::Publisher vel_pub_

Detailed Description

Definition at line 52 of file pose_base_controller.h.


Member Typedef Documentation

Definition at line 54 of file pose_base_controller.h.


Constructor & Destructor Documentation

Definition at line 40 of file pose_base_controller.cpp.

Definition at line 59 of file pose_base_controller.h.


Member Function Documentation

bool pose_base_controller::PoseBaseController::controlLoop ( const move_base_msgs::MoveBaseGoal &  current_goal)

Definition at line 179 of file pose_base_controller.cpp.

geometry_msgs::Twist pose_base_controller::PoseBaseController::diff2D ( const tf::Pose pose1,
const tf::Pose pose2 
)

Definition at line 239 of file pose_base_controller.cpp.

void pose_base_controller::PoseBaseController::execute ( const move_base_msgs::MoveBaseGoalConstPtr &  user_goal)

Definition at line 139 of file pose_base_controller.cpp.

Definition at line 104 of file pose_base_controller.cpp.

move_base_msgs::MoveBaseGoal pose_base_controller::PoseBaseController::goalToFixedFrame ( const move_base_msgs::MoveBaseGoal &  goal)

Definition at line 116 of file pose_base_controller.cpp.

double pose_base_controller::PoseBaseController::headingDiff ( double  pt_x,
double  pt_y,
double  x,
double  y,
double  heading 
)

Definition at line 88 of file pose_base_controller.cpp.

geometry_msgs::Twist pose_base_controller::PoseBaseController::limitTwist ( const geometry_msgs::Twist &  twist)

Definition at line 281 of file pose_base_controller.cpp.

void pose_base_controller::PoseBaseController::odomCallback ( const nav_msgs::Odometry::ConstPtr &  msg) [private]

Definition at line 78 of file pose_base_controller.cpp.

double pose_base_controller::PoseBaseController::sign ( double  n) [inline]

Definition at line 65 of file pose_base_controller.h.

Definition at line 166 of file pose_base_controller.cpp.


Member Data Documentation

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


pose_base_controller
Author(s): Eitan Marder-Eppstein
autogenerated on Thu Mar 28 2019 03:37:38