cob_base_velocity_smoother Class Reference

#include <cob_base_velocity_smoother.h>

Classes
class	VelocitySmoother

Public Member Functions
void	calculationStep ()
bool	circBuffOutOfDate (ros::Time now)
	cob_base_velocity_smoother ()
void	geometryCallback (const geometry_msgs::Twist::ConstPtr &cmd_vel)
double	getLoopRate ()
bool	IsEqual (geometry_msgs::Twist msg1, geometry_msgs::Twist msg2)
bool	IsZeroMsg (geometry_msgs::Twist cmd_vel)
void	limitAcceleration (ros::Time now, geometry_msgs::Twist &cmd_vel)
double	meanValueX ()
double	meanValueY ()
double	meanValueZ ()
void	reviseCircBuff (ros::Time now, geometry_msgs::Twist cmd_vel)
geometry_msgs::Twist	setOutput (ros::Time now, geometry_msgs::Twist cmd_vel)
int	signum (double var)
	~cob_base_velocity_smoother ()

Public Attributes
boost::circular_buffer< geometry_msgs::Twist >	cb_
boost::circular_buffer< geometry_msgs::Twist >	cb_out_
boost::circular_buffer< ros::Time >	cb_time_
ros::Subscriber	geometry_msgs_sub_
ros::NodeHandle	nh_
ros::NodeHandle	pnh_
ros::Publisher	pub_

Private Member Functions
bool	get_new_msg_received ()
void	set_new_msg_received (bool received)

Private Attributes
double	acc_limit_
int	buffer_capacity_
double	loop_rate_
pthread_mutex_t	m_mutex
double	max_delay_between_commands_
bool	new_msg_received_
double	stop_delay_after_no_sub_
double	store_delay_
geometry_msgs::Twist	sub_msg_
geometry_msgs::Twist	zero_values_

Detailed Description

Definition at line 46 of file cob_base_velocity_smoother.h.

Constructor & Destructor Documentation

cob_base_velocity_smoother::cob_base_velocity_smoother

(

)

Definition at line 47 of file cob_base_velocity_smoother.cpp.

cob_base_velocity_smoother::~cob_base_velocity_smoother

(

)

Definition at line 133 of file cob_base_velocity_smoother.cpp.

Member Function Documentation

void cob_base_velocity_smoother::calculationStep

(

)

Definition at line 143 of file cob_base_velocity_smoother.cpp.

bool cob_base_velocity_smoother::circBuffOutOfDate

(

ros::Time

now

)

Definition at line 269 of file cob_base_velocity_smoother.cpp.

void cob_base_velocity_smoother::geometryCallback

(

const geometry_msgs::Twist::ConstPtr &

cmd_vel

)

Definition at line 136 of file cob_base_velocity_smoother.cpp.

bool cob_base_velocity_smoother::get_new_msg_received ( )

private

Definition at line 38 of file cob_base_velocity_smoother.cpp.

double cob_base_velocity_smoother::getLoopRate

(

)

Definition at line 436 of file cob_base_velocity_smoother.cpp.

bool cob_base_velocity_smoother::IsEqual	(	geometry_msgs::Twist	msg1,
		geometry_msgs::Twist	msg2
	)

Definition at line 442 of file cob_base_velocity_smoother.cpp.

bool cob_base_velocity_smoother::IsZeroMsg

(

geometry_msgs::Twist

cmd_vel

)

Definition at line 289 of file cob_base_velocity_smoother.cpp.

void cob_base_velocity_smoother::limitAcceleration	(	ros::Time	now,
		geometry_msgs::Twist &	cmd_vel
	)

Definition at line 455 of file cob_base_velocity_smoother.cpp.

double cob_base_velocity_smoother::meanValueX

(

)

Definition at line 313 of file cob_base_velocity_smoother.cpp.

double cob_base_velocity_smoother::meanValueY

(

)

Definition at line 354 of file cob_base_velocity_smoother.cpp.

double cob_base_velocity_smoother::meanValueZ

(

)

Definition at line 395 of file cob_base_velocity_smoother.cpp.

void cob_base_velocity_smoother::reviseCircBuff	(	ros::Time	now,
		geometry_msgs::Twist	cmd_vel
	)

Definition at line 200 of file cob_base_velocity_smoother.cpp.

void cob_base_velocity_smoother::set_new_msg_received ( bool  received )

private

Definition at line 31 of file cob_base_velocity_smoother.cpp.

geometry_msgs::Twist cob_base_velocity_smoother::setOutput	(	ros::Time	now,
		geometry_msgs::Twist	cmd_vel
	)

Definition at line 178 of file cob_base_velocity_smoother.cpp.

int cob_base_velocity_smoother::signum

(

double

var

)

Definition at line 300 of file cob_base_velocity_smoother.cpp.

Member Data Documentation

double cob_base_velocity_smoother::acc_limit_

private

Definition at line 56 of file cob_base_velocity_smoother.h.

int cob_base_velocity_smoother::buffer_capacity_

private

Definition at line 50 of file cob_base_velocity_smoother.h.

boost::circular_buffer<geometry_msgs::Twist> cob_base_velocity_smoother::cb_

Definition at line 84 of file cob_base_velocity_smoother.h.

boost::circular_buffer<geometry_msgs::Twist> cob_base_velocity_smoother::cb_out_

Definition at line 85 of file cob_base_velocity_smoother.h.

boost::circular_buffer<ros::Time> cob_base_velocity_smoother::cb_time_

Definition at line 86 of file cob_base_velocity_smoother.h.

ros::Subscriber cob_base_velocity_smoother::geometry_msgs_sub_

Definition at line 89 of file cob_base_velocity_smoother.h.

double cob_base_velocity_smoother::loop_rate_

private

Definition at line 58 of file cob_base_velocity_smoother.h.

pthread_mutex_t cob_base_velocity_smoother::m_mutex

private

Definition at line 66 of file cob_base_velocity_smoother.h.

double cob_base_velocity_smoother::max_delay_between_commands_

private

Definition at line 60 of file cob_base_velocity_smoother.h.

bool cob_base_velocity_smoother::new_msg_received_

private

Definition at line 67 of file cob_base_velocity_smoother.h.

ros::NodeHandle cob_base_velocity_smoother::nh_

Definition at line 81 of file cob_base_velocity_smoother.h.

ros::NodeHandle cob_base_velocity_smoother::pnh_

Definition at line 81 of file cob_base_velocity_smoother.h.

ros::Publisher cob_base_velocity_smoother::pub_

Definition at line 92 of file cob_base_velocity_smoother.h.

double cob_base_velocity_smoother::stop_delay_after_no_sub_

private

Definition at line 54 of file cob_base_velocity_smoother.h.

double cob_base_velocity_smoother::store_delay_

private

Definition at line 52 of file cob_base_velocity_smoother.h.

geometry_msgs::Twist cob_base_velocity_smoother::sub_msg_

private

Definition at line 64 of file cob_base_velocity_smoother.h.

geometry_msgs::Twist cob_base_velocity_smoother::zero_values_

private

Definition at line 62 of file cob_base_velocity_smoother.h.

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

• cob_base_velocity_smoother.h
• cob_base_velocity_smoother.cpp