Class KinematicsHandler

Defined in File kinematic_parameters.hpp

Class Documentation

class KinematicsHandler

A class managing the representation of the robot’s kinematics.

Public Types

using Ptr = std::shared_ptr<KinematicsHandler>

Public Functions

KinematicsHandler()

~KinematicsHandler()

void initialize(const nav2_util::LifecycleNode::SharedPtr &nh, const std::string &plugin_name)

inline KinematicParameters getKinematics()

void setSpeedLimit(const double &speed_limit, const bool &percentage)

Protected Functions

rcl_interfaces::msg::SetParametersResult dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters)

Callback executed when a paramter change is detected.

Parameters:: parameters – list of changed parameters

void update_kinematics(KinematicParameters kinematics)

Protected Attributes

nav2_util::LifecycleNode::WeakPtr node_

std::atomic<KinematicParameters*> kinematics_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_

std::string plugin_name_