#include <latched_stop_rotate_controller.h>
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bool | computeVelocityCommandsStopRotate (geometry_msgs::Twist &cmd_vel, Eigen::Vector3f acc_lim, double sim_period, LocalPlannerUtil *planner_util, OdometryHelperRos &odom_helper, tf::Stamped< tf::Pose > global_pose, boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)> obstacle_check) |
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void | initialize (const std::string &name="") |
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bool | isGoalReached (LocalPlannerUtil *planner_util, OdometryHelperRos &odom_helper, tf::Stamped< tf::Pose > global_pose) |
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bool | isPositionReached (LocalPlannerUtil *planner_util, tf::Stamped< tf::Pose > global_pose) |
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| LatchedStopRotateController () |
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void | resetLatching () |
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bool | rotateToGoal (const tf::Stamped< tf::Pose > &global_pose, const tf::Stamped< tf::Pose > &robot_vel, double goal_th, geometry_msgs::Twist &cmd_vel, Eigen::Vector3f acc_lim, double sim_period, base_local_planner::LocalPlannerLimits &limits, boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)> obstacle_check) |
| Once a goal position is reached... rotate to the goal orientation. More...
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bool | stopWithAccLimits (const tf::Stamped< tf::Pose > &global_pose, const tf::Stamped< tf::Pose > &robot_vel, geometry_msgs::Twist &cmd_vel, Eigen::Vector3f acc_lim, double sim_period, boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)> obstacle_check) |
| Stop the robot taking into account acceleration limits. More...
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virtual | ~LatchedStopRotateController () |
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base_local_planner::LatchedStopRotateController::LatchedStopRotateController |
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base_local_planner::LatchedStopRotateController::~LatchedStopRotateController |
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bool base_local_planner::LatchedStopRotateController::computeVelocityCommandsStopRotate |
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geometry_msgs::Twist & |
cmd_vel, |
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Eigen::Vector3f |
acc_lim, |
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double |
sim_period, |
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LocalPlannerUtil * |
planner_util, |
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OdometryHelperRos & |
odom_helper, |
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tf::Stamped< tf::Pose > |
global_pose, |
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boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)> |
obstacle_check |
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void base_local_planner::LatchedStopRotateController::initialize |
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const std::string & |
name = "" | ) |
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returns true if we have passed the goal position and have reached goal orientation. Meaning we might have overshot on the position beyond tolerance, yet still return true.
Definition at line 67 of file latched_stop_rotate_controller.cpp.
returns true if we have passed the goal position. Meaning we might have overshot on the position beyond tolerance, yet still return true. Also goal orientation might not yet be true
Definition at line 40 of file latched_stop_rotate_controller.cpp.
void base_local_planner::LatchedStopRotateController::resetLatching |
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bool base_local_planner::LatchedStopRotateController::rotateToGoal |
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const tf::Stamped< tf::Pose > & |
global_pose, |
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const tf::Stamped< tf::Pose > & |
robot_vel, |
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double |
goal_th, |
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geometry_msgs::Twist & |
cmd_vel, |
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Eigen::Vector3f |
acc_lim, |
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double |
sim_period, |
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base_local_planner::LocalPlannerLimits & |
limits, |
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boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)> |
obstacle_check |
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Once a goal position is reached... rotate to the goal orientation.
- Parameters
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global_pose | The pose of the robot in the global frame |
robot_vel | The velocity of the robot |
goal_th | The desired th value for the goal |
cmd_vel | The velocity commands to be filled |
- Returns
- True if a valid trajectory was found, false otherwise
Definition at line 149 of file latched_stop_rotate_controller.cpp.
double base_local_planner::LatchedStopRotateController::sign |
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double |
x | ) |
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bool base_local_planner::LatchedStopRotateController::stopWithAccLimits |
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const tf::Stamped< tf::Pose > & |
global_pose, |
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const tf::Stamped< tf::Pose > & |
robot_vel, |
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geometry_msgs::Twist & |
cmd_vel, |
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Eigen::Vector3f |
acc_lim, |
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double |
sim_period, |
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boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)> |
obstacle_check |
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Stop the robot taking into account acceleration limits.
- Parameters
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global_pose | The pose of the robot in the global frame |
robot_vel | The velocity of the robot |
cmd_vel | The velocity commands to be filled |
- Returns
- True if a valid trajectory was found, false otherwise
Definition at line 111 of file latched_stop_rotate_controller.cpp.
bool base_local_planner::LatchedStopRotateController::latch_xy_goal_tolerance_ |
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bool base_local_planner::LatchedStopRotateController::rotating_to_goal_ |
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bool base_local_planner::LatchedStopRotateController::xy_tolerance_latch_ |
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The documentation for this class was generated from the following files: