yocs_velocity_smoother::VelocitySmoother Class Reference

#include <velocity_smoother_nodelet.hpp>

List of all members.

Public Member Functions
bool	init (ros::NodeHandle &nh)
void	shutdown ()
void	spin ()
	VelocitySmoother (const std::string &name)
	~VelocitySmoother ()
Private Types
enum	RobotFeedbackType { NONE, ODOMETRY, COMMANDS }
Private Member Functions
double	median (std::vector< double > values)
void	odometryCB (const nav_msgs::Odometry::ConstPtr &msg)
void	reconfigCB (yocs_velocity_smoother::paramsConfig &config, uint32_t unused_level)
void	robotVelCB (const geometry_msgs::Twist::ConstPtr &msg)
double	sign (double x)
void	velocityCB (const geometry_msgs::Twist::ConstPtr &msg)
Private Attributes
double	accel_lim_v
double	accel_lim_w
double	cb_avg_time
geometry_msgs::Twist	current_vel
ros::Subscriber	current_vel_sub
double	decel_factor
double	decel_lim_v
double	decel_lim_w
dynamic_reconfigure::Server < yocs_velocity_smoother::paramsConfig > ::CallbackType	dynamic_reconfigure_callback
dynamic_reconfigure::Server < yocs_velocity_smoother::paramsConfig > *	dynamic_reconfigure_server
double	frequency
bool	input_active
ros::Time	last_cb_time
geometry_msgs::Twist	last_cmd_vel
std::string	name
ros::Subscriber	odometry_sub
std::vector< double >	period_record
unsigned int	pr_next
ros::Subscriber	raw_in_vel_sub
enum yocs_velocity_smoother::VelocitySmoother::RobotFeedbackType	robot_feedback
bool	shutdown_req
ros::Publisher	smooth_vel_pub
double	speed_lim_v
double	speed_lim_w
geometry_msgs::Twist	target_vel

---

Detailed Description

Definition at line 33 of file velocity_smoother_nodelet.hpp.

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Member Enumeration Documentation

enum yocs_velocity_smoother::VelocitySmoother::RobotFeedbackType [private]

Enumerator:

NONE
ODOMETRY
COMMANDS

Definition at line 50 of file velocity_smoother_nodelet.hpp.

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Constructor & Destructor Documentation

yocs_velocity_smoother::VelocitySmoother::VelocitySmoother

(

const std::string &

name

)

[inline]

Definition at line 36 of file velocity_smoother_nodelet.hpp.

yocs_velocity_smoother::VelocitySmoother::~VelocitySmoother

(

)

[inline]

Definition at line 39 of file velocity_smoother_nodelet.hpp.

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Member Function Documentation

bool yocs_velocity_smoother::VelocitySmoother::init

(

ros::NodeHandle &

nh

)

Initialise from a nodelet's private nodehandle.

Parameters:

nh	: private nodehandle

Returns:

bool : success or failure

Definition at line 239 of file velocity_smoother_nodelet.cpp.

double yocs_velocity_smoother::VelocitySmoother::median

(

std::vector< double >

values

)

[inline, private]

Definition at line 86 of file velocity_smoother_nodelet.hpp.

void yocs_velocity_smoother::VelocitySmoother::odometryCB

(

const nav_msgs::Odometry::ConstPtr &

msg

)

[private]

Definition at line 93 of file velocity_smoother_nodelet.cpp.

void yocs_velocity_smoother::VelocitySmoother::reconfigCB	(	yocs_velocity_smoother::paramsConfig &	config,
		uint32_t	unused_level
	)		[private]

Definition at line 42 of file velocity_smoother_nodelet.cpp.

void yocs_velocity_smoother::VelocitySmoother::robotVelCB

(

const geometry_msgs::Twist::ConstPtr &

msg

)

[private]

Definition at line 101 of file velocity_smoother_nodelet.cpp.

void yocs_velocity_smoother::VelocitySmoother::shutdown

(

)

[inline]

Definition at line 47 of file velocity_smoother_nodelet.hpp.

double yocs_velocity_smoother::VelocitySmoother::sign

(

double

x

)

[inline, private]

Definition at line 84 of file velocity_smoother_nodelet.hpp.

void yocs_velocity_smoother::VelocitySmoother::spin

(

)

Definition at line 109 of file velocity_smoother_nodelet.cpp.

void yocs_velocity_smoother::VelocitySmoother::velocityCB

(

const geometry_msgs::Twist::ConstPtr &

msg

)

[private]

Definition at line 56 of file velocity_smoother_nodelet.cpp.

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Member Data Documentation

double yocs_velocity_smoother::VelocitySmoother::accel_lim_v [private]

Definition at line 58 of file velocity_smoother_nodelet.hpp.

double yocs_velocity_smoother::VelocitySmoother::accel_lim_w [private]

Definition at line 59 of file velocity_smoother_nodelet.hpp.

double yocs_velocity_smoother::VelocitySmoother::cb_avg_time [private]

Definition at line 70 of file velocity_smoother_nodelet.hpp.

geometry_msgs::Twist yocs_velocity_smoother::VelocitySmoother::current_vel [private]

Definition at line 65 of file velocity_smoother_nodelet.hpp.

ros::Subscriber yocs_velocity_smoother::VelocitySmoother::current_vel_sub [private]

Current velocity from commands sent to the robot, not necessarily by this node

Definition at line 76 of file velocity_smoother_nodelet.hpp.

double yocs_velocity_smoother::VelocitySmoother::decel_factor [private]

Definition at line 60 of file velocity_smoother_nodelet.hpp.

double yocs_velocity_smoother::VelocitySmoother::decel_lim_v [private]

Definition at line 58 of file velocity_smoother_nodelet.hpp.

double yocs_velocity_smoother::VelocitySmoother::decel_lim_w [private]

Definition at line 59 of file velocity_smoother_nodelet.hpp.

dynamic_reconfigure::Server<yocs_velocity_smoother::paramsConfig>::CallbackType yocs_velocity_smoother::VelocitySmoother::dynamic_reconfigure_callback [private]

Definition at line 96 of file velocity_smoother_nodelet.hpp.

dynamic_reconfigure::Server<yocs_velocity_smoother::paramsConfig>* yocs_velocity_smoother::VelocitySmoother::dynamic_reconfigure_server [private]

Definition at line 90 of file velocity_smoother_nodelet.hpp.

double yocs_velocity_smoother::VelocitySmoother::frequency [private]

Definition at line 62 of file velocity_smoother_nodelet.hpp.

bool yocs_velocity_smoother::VelocitySmoother::input_active [private]

Definition at line 69 of file velocity_smoother_nodelet.hpp.

ros::Time yocs_velocity_smoother::VelocitySmoother::last_cb_time [private]

Definition at line 71 of file velocity_smoother_nodelet.hpp.

geometry_msgs::Twist yocs_velocity_smoother::VelocitySmoother::last_cmd_vel [private]

Definition at line 64 of file velocity_smoother_nodelet.hpp.

std::string yocs_velocity_smoother::VelocitySmoother::name [private]

Definition at line 57 of file velocity_smoother_nodelet.hpp.

ros::Subscriber yocs_velocity_smoother::VelocitySmoother::odometry_sub [private]

Current velocity from odometry

Definition at line 75 of file velocity_smoother_nodelet.hpp.

std::vector<double> yocs_velocity_smoother::VelocitySmoother::period_record [private]

Historic of latest periods between velocity commands

Definition at line 72 of file velocity_smoother_nodelet.hpp.

unsigned int yocs_velocity_smoother::VelocitySmoother::pr_next [private]

Next position to fill in the periods record buffer

Definition at line 73 of file velocity_smoother_nodelet.hpp.

ros::Subscriber yocs_velocity_smoother::VelocitySmoother::raw_in_vel_sub [private]

Incoming raw velocity commands

Definition at line 77 of file velocity_smoother_nodelet.hpp.

enum yocs_velocity_smoother::VelocitySmoother::RobotFeedbackType yocs_velocity_smoother::VelocitySmoother::robot_feedback [private]

What source to use as robot velocity feedback

bool yocs_velocity_smoother::VelocitySmoother::shutdown_req [private]

Shutdown requested by nodelet; kill worker thread

Definition at line 68 of file velocity_smoother_nodelet.hpp.

ros::Publisher yocs_velocity_smoother::VelocitySmoother::smooth_vel_pub [private]

Outgoing smoothed velocity commands

Definition at line 78 of file velocity_smoother_nodelet.hpp.

double yocs_velocity_smoother::VelocitySmoother::speed_lim_v [private]

Definition at line 58 of file velocity_smoother_nodelet.hpp.

double yocs_velocity_smoother::VelocitySmoother::speed_lim_w [private]

Definition at line 59 of file velocity_smoother_nodelet.hpp.

geometry_msgs::Twist yocs_velocity_smoother::VelocitySmoother::target_vel [private]

Definition at line 66 of file velocity_smoother_nodelet.hpp.

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

• velocity_smoother_nodelet.hpp
• velocity_smoother_nodelet.cpp