Class XYThetaIterator

Defined in File xy_theta_iterator.hpp

Inheritance Relationships

Base Type

public dwb_plugins::VelocityIterator (Class VelocityIterator)

Class Documentation

class XYThetaIterator : public dwb_plugins::VelocityIterator 

Public Functions

inline XYThetaIterator()

virtual void initialize(const nav2_util::LifecycleNode::SharedPtr &nh, KinematicsHandler::Ptr kinematics, const std::string &plugin_name) override

virtual void startNewIteration(const nav_2d_msgs::msg::Twist2D &current_velocity, double dt) override

virtual bool hasMoreTwists() override

virtual nav_2d_msgs::msg::Twist2D nextTwist() override

Protected Functions

virtual bool isValidVelocity()

void iterateToValidVelocity()

Protected Attributes

int vx_samples_

int vy_samples_

int vtheta_samples_

KinematicsHandler::Ptr kinematics_handler_

std::shared_ptr<OneDVelocityIterator> x_it_

std::shared_ptr<OneDVelocityIterator> y_it_

std::shared_ptr<OneDVelocityIterator> th_it_