#include <stepback_and_steerturn_recovery.h>

Inheritance diagram for stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery:

Public Member Functions
void	initialize (std::string n, tf::TransformListener tf, costmap_2d::Costmap2DROS global_costmap, costmap_2d::Costmap2DROS *local_costmap)
	Initialize the parameters of the behavior.
void	runBehavior ()
	Run the behavior.
	StepBackAndSteerTurnRecovery ()
	Doesn't do anything: initialize is where the actual work happens.
	~StepBackAndSteerTurnRecovery ()
Private Types
enum	COSTMAP_SEARCH_MODE { FORWARD, FORWARD_LEFT, FORWARD_RIGHT, BACKWARD }
enum	TURN_DIRECTION { LEFT, RIGHT }
enum	TURN_NO { FIRST_TURN = 0, SECOND_TURN = 1 }
Private Member Functions
int	determineTurnDirection ()
double	getCurrentDiff (const gm::Pose2D initialPose, const COSTMAP_SEARCH_MODE mode=FORWARD) const
double	getCurrentDistDiff (const gm::Pose2D initialPose, const double distination, const COSTMAP_SEARCH_MODE mode=FORWARD) const
gm::Pose2D	getCurrentLocalPose () const
double	getDistBetweenTwoPoints (const gm::Pose2D pose1, const gm::Pose2D pose2) const
double	getMinimalDistanceToObstacle (const COSTMAP_SEARCH_MODE mode) const
gm::Pose2D	getPoseToObstacle (const gm::Pose2D &current, const gm::Twist &twist) const
void	moveSpacifiedLength (const gm::Twist twist, const double length, const COSTMAP_SEARCH_MODE mode=FORWARD) const
double	normalizedPoseCost (const gm::Pose2D &pose) const
gm::Twist	scaleGivenAccelerationLimits (const gm::Twist &twist, const double time_remaining) const
gm::Twist	transformTwist (const gm::Pose2D &pose) const
Private Attributes
double	angular_acceleration_limit_
double	angular_speed_limit_
double	angular_speed_steer_
gm::Twist	base_frame_twist_
ros::Publisher	cmd_vel_pub_
double	controller_frequency_
costmap_2d::Costmap2D	costmap_
double	duration_
costmap_2d::Costmap2DROS *	global_costmap_
bool	initialized_
double	linear_acceleration_limit_
double	linear_speed_limit_
double	linear_vel_back_
double	linear_vel_forward_
double	linear_vel_steer_
costmap_2d::Costmap2DROS *	local_costmap_
std::string	name_
ros::NodeHandle	nh_
double	obstacle_check_frequency_
double	obstacle_patience_
bool	only_single_steering_
ros::Publisher	recover_run_pub_
double	sim_angle_resolution_
double	simulation_frequency_
double	simulation_inc_
double	steering_timeout_
double	step_back_length_
double	step_back_timeout_
double	step_forward_length_
double	step_forward_timeout_
tf::TransformListener *	tf_
int	trial_times_
double	turn_angle_
gm::Twist	TWIST_STOP
base_local_planner::CostmapModel *	world_model_
Static Private Attributes
static const int	CNT_TURN = 2

Detailed Description

Recovery behavior that takes a given twist and tries to execute it for up to d seconds, or until reaching an obstacle.

Definition at line 55 of file stepback_and_steerturn_recovery.h.

Member Enumeration Documentation

enum stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::COSTMAP_SEARCH_MODE [private]

Enumerator:

FORWARD
FORWARD_LEFT
FORWARD_RIGHT
BACKWARD

Definition at line 73 of file stepback_and_steerturn_recovery.h.

enum stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::TURN_DIRECTION [private]

Enumerator:

LEFT
RIGHT

Definition at line 81 of file stepback_and_steerturn_recovery.h.

enum stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::TURN_NO [private]

Enumerator:

FIRST_TURN
SECOND_TURN

Definition at line 87 of file stepback_and_steerturn_recovery.h.

Constructor & Destructor Documentation

stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::StepBackAndSteerTurnRecovery ( )

Doesn't do anything: initialize is where the actual work happens.

stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::~StepBackAndSteerTurnRecovery ( )

Member Function Documentation

int stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::determineTurnDirection ( ) [private]

double stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::getCurrentDiff	(	const gm::Pose2D	initialPose,
		const COSTMAP_SEARCH_MODE	mode = `FORWARD`
	)		const `[private]`

double stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::getCurrentDistDiff	(	const gm::Pose2D	initialPose,
		const double	distination,
		const COSTMAP_SEARCH_MODE	mode = `FORWARD`
	)		const `[private]`

gm::Pose2D stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::getCurrentLocalPose ( ) const [private]

double stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::getDistBetweenTwoPoints	(	const gm::Pose2D	pose1,
		const gm::Pose2D	pose2
	)		const `[private]`

double stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::getMinimalDistanceToObstacle ( const COSTMAP_SEARCH_MODE mode ) const [private]

gm::Pose2D stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::getPoseToObstacle	(	const gm::Pose2D &	current,
		const gm::Twist &	twist
	)		const `[private]`

void stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::initialize	(	std::string	n,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	global_costmap,
		costmap_2d::Costmap2DROS *	local_costmap
	)		`[virtual]`

Initialize the parameters of the behavior.

Implements nav_core::RecoveryBehavior.

void stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::moveSpacifiedLength	(	const gm::Twist	twist,
		const double	length,
		const COSTMAP_SEARCH_MODE	mode = `FORWARD`
	)		const `[private]`

double stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::normalizedPoseCost ( const gm::Pose2D & pose ) const [private]

void stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::runBehavior ( ) [virtual]

Run the behavior.

Implements nav_core::RecoveryBehavior.

gm::Twist stepback_and_steerturn_recovery::StepBackAndSteerTurnRecovery::scaleGivenAccelerationLimits	(	const gm::Twist &	twist,
		const double	time_remaining
	)		const `[private]`