checks the footprint of care-o-bot and advertises a service to get the adjusted footprint More...

#include <cob_footprint_observer.h>

Public Member Functions
void	checkFootprint ()
	checks the footprint of the robot if it needs to be enlarged due to arm or tray More...

	FootprintObserver ()
	constructor More...

bool	getFootprintCB (cob_footprint_observer::GetFootprint::Request &req, cob_footprint_observer::GetFootprint::Response &resp)
	callback for GetFootprint service More...

	~FootprintObserver ()
	destructor More...

Public Attributes
ros::NodeHandle	nh_

ros::ServiceServer	srv_get_footprint_

ros::Publisher	topic_pub_footprint_

Private Member Functions
std::vector< geometry_msgs::Point >	loadRobotFootprint (ros::NodeHandle node)
	loads the robot footprint from the costmap node More...

void	publishFootprint ()
	publishes the adjusted footprint as geometry_msgs::StampedPolygon message More...

double	sign (double x)
	computes the sign of x More...

Private Attributes
double	epsilon_

double	footprint_front_

double	footprint_front_initial_

double	footprint_left_

double	footprint_left_initial_

double	footprint_rear_

double	footprint_rear_initial_

double	footprint_right_

double	footprint_right_initial_

std::string	frames_to_check_

ros::Time	last_tf_missing_

pthread_mutex_t	m_mutex

std::string	robot_base_frame_

std::vector< geometry_msgs::Point >	robot_footprint_

tf::TransformListener	tf_listener_

unsigned int	times_warned_

Detailed Description

checks the footprint of care-o-bot and advertises a service to get the adjusted footprint

Definition at line 45 of file cob_footprint_observer.h.

Constructor & Destructor Documentation

FootprintObserver::FootprintObserver ( )

constructor

Definition at line 21 of file cob_footprint_observer.cpp.

FootprintObserver::~FootprintObserver ( )

destructor

Definition at line 63 of file cob_footprint_observer.cpp.

Member Function Documentation

void FootprintObserver::checkFootprint ( )

checks the footprint of the robot if it needs to be enlarged due to arm or tray

Definition at line 246 of file cob_footprint_observer.cpp.

bool FootprintObserver::getFootprintCB	(	cob_footprint_observer::GetFootprint::Request &	req,
		cob_footprint_observer::GetFootprint::Response &	resp
	)

callback for GetFootprint service

Parameters

req	- request message to service
resp	- response message from service

Returns: service call successfull

Definition at line 67 of file cob_footprint_observer.cpp.

std::vector< geometry_msgs::Point > FootprintObserver::loadRobotFootprint ( ros::NodeHandle node )

private

loads the robot footprint from the costmap node

Parameters

node	- costmap node to check for footprint parameter

Returns: points of a polygon specifying the footprint

Definition at line 88 of file cob_footprint_observer.cpp.

void FootprintObserver::publishFootprint ( )

private

publishes the adjusted footprint as geometry_msgs::StampedPolygon message

Definition at line 323 of file cob_footprint_observer.cpp.

double FootprintObserver::sign ( double x )

private

computes the sign of x

Parameters

x - number

Returns: sign of x

Definition at line 343 of file cob_footprint_observer.cpp.

Member Data Documentation

double FootprintObserver::epsilon_

private

Definition at line 97 of file cob_footprint_observer.h.

double FootprintObserver::footprint_front_

private

Definition at line 99 of file cob_footprint_observer.h.

double FootprintObserver::footprint_front_initial_

private

Definition at line 98 of file cob_footprint_observer.h.

double FootprintObserver::footprint_left_

private

Definition at line 99 of file cob_footprint_observer.h.

double FootprintObserver::footprint_left_initial_

private

Definition at line 98 of file cob_footprint_observer.h.

double FootprintObserver::footprint_rear_

private

Definition at line 99 of file cob_footprint_observer.h.

double FootprintObserver::footprint_rear_initial_

private

Definition at line 98 of file cob_footprint_observer.h.

double FootprintObserver::footprint_right_

private

Definition at line 99 of file cob_footprint_observer.h.

double FootprintObserver::footprint_right_initial_

private

Definition at line 98 of file cob_footprint_observer.h.

std::string FootprintObserver::frames_to_check_

private

Definition at line 101 of file cob_footprint_observer.h.

ros::Time FootprintObserver::last_tf_missing_

private

Definition at line 106 of file cob_footprint_observer.h.

pthread_mutex_t FootprintObserver::m_mutex

private

Definition at line 104 of file cob_footprint_observer.h.

ros::NodeHandle FootprintObserver::nh_

Definition at line 71 of file cob_footprint_observer.h.

std::string FootprintObserver::robot_base_frame_

private

Definition at line 102 of file cob_footprint_observer.h.

std::vector<geometry_msgs::Point> FootprintObserver::robot_footprint_

private

Definition at line 96 of file cob_footprint_observer.h.

ros::ServiceServer FootprintObserver::srv_get_footprint_

Definition at line 73 of file cob_footprint_observer.h.

tf::TransformListener FootprintObserver::tf_listener_

private

Definition at line 100 of file cob_footprint_observer.h.

unsigned int FootprintObserver::times_warned_

private

Definition at line 107 of file cob_footprint_observer.h.

ros::Publisher FootprintObserver::topic_pub_footprint_

Definition at line 72 of file cob_footprint_observer.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation