Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
cob_base_velocity_smoother::VelocitySmoother Class Reference

#include <velocity_smoother.h>

Public Member Functions

bool init (ros::NodeHandle &nh)
 
void shutdown ()
 
void spin ()
 
 VelocitySmoother (const std::string &name)
 
 ~VelocitySmoother ()
 

Private Types

enum  RobotFeedbackType { NONE, ODOMETRY, COMMANDS }
 

Private Member Functions

double median (std::vector< double > values)
 
void odometryCB (const nav_msgs::Odometry::ConstPtr &msg)
 
void reconfigCB (cob_base_velocity_smoother::paramsConfig &config, uint32_t unused_level)
 
void robotVelCB (const geometry_msgs::Twist::ConstPtr &msg)
 
double sign (double x)
 
void velocityCB (const geometry_msgs::Twist::ConstPtr &msg)
 

Private Attributes

double accel_lim_vx
 
double accel_lim_vy
 
double accel_lim_w
 
double cb_avg_time
 
geometry_msgs::Twist current_vel
 
ros::Subscriber current_vel_sub
 
double decel_factor
 
double decel_factor_safe
 
double decel_lim_vx
 
double decel_lim_vx_safe
 
double decel_lim_vy
 
double decel_lim_vy_safe
 
double decel_lim_w
 
double decel_lim_w_safe
 
dynamic_reconfigure::Server< cob_base_velocity_smoother::paramsConfig >::CallbackType dynamic_reconfigure_callback
 
dynamic_reconfigure::Server< cob_base_velocity_smoother::paramsConfig > * dynamic_reconfigure_server
 
double frequency
 
bool input_active
 
ros::Time last_cb_time
 
geometry_msgs::Twist last_cmd_vel
 
std::string name
 
ros::Subscriber odometry_sub
 
std::vector< double > period_record
 
unsigned int pr_next
 
ros::Subscriber raw_in_vel_sub
 
enum cob_base_velocity_smoother::VelocitySmoother::RobotFeedbackType robot_feedback
 
bool shutdown_req
 
ros::Publisher smooth_vel_pub
 
double speed_lim_vx
 
double speed_lim_vy
 
double speed_lim_w
 
geometry_msgs::Twist target_vel
 

Detailed Description

Definition at line 40 of file velocity_smoother.h.

Member Enumeration Documentation

enum cob_base_velocity_smoother::VelocitySmoother::RobotFeedbackType
private
Enumerator
NONE 
ODOMETRY 
COMMANDS 

Definition at line 56 of file velocity_smoother.h.

Constructor & Destructor Documentation

cob_base_velocity_smoother::VelocitySmoother::VelocitySmoother ( const std::string &  name)

Definition at line 46 of file velocity_smoother.cpp.

cob_base_velocity_smoother::VelocitySmoother::~VelocitySmoother ( )
inline

Definition at line 45 of file velocity_smoother.h.

Member Function Documentation

bool cob_base_velocity_smoother::VelocitySmoother::init ( ros::NodeHandle &  nh)

Initialise from a nodelet's private nodehandle.

Parameters
nh: private nodehandle
Returns
bool : success or failure

Definition at line 300 of file velocity_smoother.cpp.

double cob_base_velocity_smoother::VelocitySmoother::median ( std::vector< double >  values)
inlineprivate

Definition at line 93 of file velocity_smoother.h.

void cob_base_velocity_smoother::VelocitySmoother::odometryCB ( const nav_msgs::Odometry::ConstPtr &  msg)
private

Definition at line 115 of file velocity_smoother.cpp.

void cob_base_velocity_smoother::VelocitySmoother::reconfigCB ( cob_base_velocity_smoother::paramsConfig &  config,
uint32_t  unused_level 
)
private

Definition at line 55 of file velocity_smoother.cpp.

void cob_base_velocity_smoother::VelocitySmoother::robotVelCB ( const geometry_msgs::Twist::ConstPtr &  msg)
private

Definition at line 123 of file velocity_smoother.cpp.

void cob_base_velocity_smoother::VelocitySmoother::shutdown ( )
inline

Definition at line 53 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::sign ( double  x)
inlineprivate

Definition at line 91 of file velocity_smoother.h.

void cob_base_velocity_smoother::VelocitySmoother::spin ( )

Definition at line 131 of file velocity_smoother.cpp.

void cob_base_velocity_smoother::VelocitySmoother::velocityCB ( const geometry_msgs::Twist::ConstPtr &  msg)
private

Definition at line 76 of file velocity_smoother.cpp.

Member Data Documentation

double cob_base_velocity_smoother::VelocitySmoother::accel_lim_vx
private

Definition at line 64 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::accel_lim_vy
private

Definition at line 65 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::accel_lim_w
private

Definition at line 66 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::cb_avg_time
private

Definition at line 77 of file velocity_smoother.h.

geometry_msgs::Twist cob_base_velocity_smoother::VelocitySmoother::current_vel
private

Definition at line 72 of file velocity_smoother.h.

ros::Subscriber cob_base_velocity_smoother::VelocitySmoother::current_vel_sub
private

Current velocity from commands sent to the robot, not necessarily by this node

Definition at line 83 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::decel_factor
private

Definition at line 67 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::decel_factor_safe
private

Definition at line 67 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::decel_lim_vx
private

Definition at line 64 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::decel_lim_vx_safe
private

Definition at line 64 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::decel_lim_vy
private

Definition at line 65 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::decel_lim_vy_safe
private

Definition at line 65 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::decel_lim_w
private

Definition at line 66 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::decel_lim_w_safe
private

Definition at line 66 of file velocity_smoother.h.

dynamic_reconfigure::Server<cob_base_velocity_smoother::paramsConfig>::CallbackType cob_base_velocity_smoother::VelocitySmoother::dynamic_reconfigure_callback
private

Definition at line 103 of file velocity_smoother.h.

dynamic_reconfigure::Server<cob_base_velocity_smoother::paramsConfig>* cob_base_velocity_smoother::VelocitySmoother::dynamic_reconfigure_server
private

Definition at line 97 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::frequency
private

Definition at line 69 of file velocity_smoother.h.

bool cob_base_velocity_smoother::VelocitySmoother::input_active
private

Definition at line 76 of file velocity_smoother.h.

ros::Time cob_base_velocity_smoother::VelocitySmoother::last_cb_time
private

Definition at line 78 of file velocity_smoother.h.

geometry_msgs::Twist cob_base_velocity_smoother::VelocitySmoother::last_cmd_vel
private

Definition at line 71 of file velocity_smoother.h.

std::string cob_base_velocity_smoother::VelocitySmoother::name
private

Definition at line 63 of file velocity_smoother.h.

ros::Subscriber cob_base_velocity_smoother::VelocitySmoother::odometry_sub
private

Current velocity from odometry

Definition at line 82 of file velocity_smoother.h.

std::vector<double> cob_base_velocity_smoother::VelocitySmoother::period_record
private

Historic of latest periods between velocity commands

Definition at line 79 of file velocity_smoother.h.

unsigned int cob_base_velocity_smoother::VelocitySmoother::pr_next
private

Next position to fill in the periods record buffer

Definition at line 80 of file velocity_smoother.h.

ros::Subscriber cob_base_velocity_smoother::VelocitySmoother::raw_in_vel_sub
private

Incoming raw velocity commands

Definition at line 84 of file velocity_smoother.h.

enum cob_base_velocity_smoother::VelocitySmoother::RobotFeedbackType cob_base_velocity_smoother::VelocitySmoother::robot_feedback
private

What source to use as robot velocity feedback

bool cob_base_velocity_smoother::VelocitySmoother::shutdown_req
private

Shutdown requested by nodelet; kill worker thread

Definition at line 75 of file velocity_smoother.h.

ros::Publisher cob_base_velocity_smoother::VelocitySmoother::smooth_vel_pub
private

Outgoing smoothed velocity commands

Definition at line 85 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::speed_lim_vx
private

Definition at line 64 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::speed_lim_vy
private

Definition at line 65 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::speed_lim_w
private

Definition at line 66 of file velocity_smoother.h.

geometry_msgs::Twist cob_base_velocity_smoother::VelocitySmoother::target_vel
private

Definition at line 73 of file velocity_smoother.h.

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

cob_base_velocity_smoother
Author(s): Florian Mirus , Benjamin Maidel
autogenerated on Thu Apr 8 2021 02:39:30