Class SimpleGoalController

• Defined in File simple_goal_controller.hpp

Nested Relationships

Nested Types

• Struct SimpleGoalController::CmdPathPoint

• Struct SimpleGoalController::GoalPoint

Class Documentation

class SimpleGoalController

This class provides an API to give velocity commands given a goal and position.

Public Types

using CmdPath = std::vector<CmdPathPoint>

Public Functions

inline SimpleGoalController()

inline void initialize_goal(const CmdPath &cmd_path, double max_rotation, double max_translation)

Set goal path for controller along with max rotation and translation speed.

inline void reset()

Clear goal.

inline BehaviorsScheduler::optional_output_t get_velocity_for_position(const tf2::Transform &current_pose)

struct CmdPathPoint

Structure to keep information for each point in commanded path.

Public Functions

inline CmdPathPoint(tf2::Transform p, float r, bool db)

Public Members

tf2::Transform pose

float radius

bool drive_backwards