NodeClass Class Reference

Public Member Functions
void	actionCB (const move_base_msgs::MoveBaseGoalConstPtr &goal)
bool	getUseMoveAction (void)
	NodeClass (std::string name)
void	odometryCB (const nav_msgs::Odometry::ConstPtr &odometry)
void	performControllerStep ()
bool	serviceCB (cob_srvs::SetString::Request &req, cob_srvs::SetString::Response &res)
void	topicCB (const geometry_msgs::PoseStamped::ConstPtr &goal)
	~NodeClass ()

Public Attributes
actionlib::SimpleActionClient< move_base_msgs::MoveBaseAction > *	action_client_
actionlib::SimpleActionServer< move_base_msgs::MoveBaseAction >	as_
ros::Subscriber	goal_sub_
ros::NodeHandle	nh_
ros::Subscriber	odometry_sub_
move_base_msgs::MoveBaseResult	result_
ros::ServiceServer	ss_
ros::Publisher	topic_pub_command_

Private Member Functions
double	getDistance2d (geometry_msgs::PoseStamped a, geometry_msgs::PoseStamped b)
double	getDistance2d (geometry_msgs::Point a, geometry_msgs::Point b)
geometry_msgs::PoseStamped	getRobotPoseGlobal ()
double	getThetaDiffRad (double target, double actual)
bool	goalValid (const geometry_msgs::PoseStamped &goal_pose)
bool	notMovingDueToObstacle ()
void	publishVelocitiesGlobal (double vx, double vy, double theta)
double	sign (double x)
void	stopMovement ()
geometry_msgs::PoseStamped	transformGoalToMap (geometry_msgs::PoseStamped goal_pose)

Private Attributes
bool	finished_
std::string	global_frame_
double	goal_abortion_speed_
double	goal_abortion_speed_rot_
double	goal_abortion_time_
geometry_msgs::PoseStamped	goal_pose_global_
double	goal_threshold_
double	goal_threshold_rot_
double	kp_
double	kp_rot_
double	kv_
double	kv_rot_
double	last_time_
double	last_time_moving_
pthread_mutex_t	m_mutex
bool	move_
std::string	robot_footprint_frame_
std::string	robot_frame_
geometry_msgs::PoseStamped	robot_pose_global_
geometry_msgs::Vector3Stamped	robot_twist_angular_robot_
geometry_msgs::Vector3Stamped	robot_twist_linear_robot_
double	slow_down_distance_
double	speed_threshold_
double	speed_threshold_rot_
tf::TransformListener	tf_listener_
double	theta_last_
bool	use_move_action_
double	v_max_
double	virt_mass_
double	virt_mass_rot_
double	vtheta_last_
double	vtheta_max_
double	vx_last_
double	vy_last_
double	x_last_
double	y_last_
geometry_msgs::PoseStamped	zero_pose_

Detailed Description

Definition at line 44 of file cob_linear_nav.cpp.

Constructor & Destructor Documentation

NodeClass::NodeClass ( std::string  name )

inline

Definition at line 66 of file cob_linear_nav.cpp.

NodeClass::~NodeClass ( )

inline

Definition at line 324 of file cob_linear_nav.cpp.

Member Function Documentation

void NodeClass::actionCB ( const move_base_msgs::MoveBaseGoalConstPtr &  goal )

inline

Definition at line 218 of file cob_linear_nav.cpp.

double NodeClass::getDistance2d ( geometry_msgs::PoseStamped  a, geometry_msgs::PoseStamped  b  )

private

Definition at line 406 of file cob_linear_nav.cpp.

double NodeClass::getDistance2d ( geometry_msgs::Point  a, geometry_msgs::Point  b  )

private

Definition at line 410 of file cob_linear_nav.cpp.

geometry_msgs::PoseStamped NodeClass::getRobotPoseGlobal ( )

private

Definition at line 390 of file cob_linear_nav.cpp.

double NodeClass::getThetaDiffRad ( double  target, double  actual  )

private

Definition at line 419 of file cob_linear_nav.cpp.

bool NodeClass::getUseMoveAction

(

void

)

Definition at line 373 of file cob_linear_nav.cpp.

bool NodeClass::goalValid ( const geometry_msgs::PoseStamped &  goal_pose )

private

Definition at line 497 of file cob_linear_nav.cpp.

bool NodeClass::notMovingDueToObstacle ( )

private

Definition at line 478 of file cob_linear_nav.cpp.

void NodeClass::odometryCB ( const nav_msgs::Odometry::ConstPtr &  odometry )

inline

Definition at line 289 of file cob_linear_nav.cpp.

void NodeClass::performControllerStep

(

)

Definition at line 525 of file cob_linear_nav.cpp.

void NodeClass::publishVelocitiesGlobal ( double  vx, double  vy, double  theta  )

private

Definition at line 423 of file cob_linear_nav.cpp.

bool NodeClass::serviceCB ( cob_srvs::SetString::Request &  req, cob_srvs::SetString::Response &  res  )

inline

Definition at line 311 of file cob_linear_nav.cpp.

double NodeClass::sign ( double  x )

private

Definition at line 414 of file cob_linear_nav.cpp.

void NodeClass::stopMovement ( )

private

Definition at line 471 of file cob_linear_nav.cpp.

void NodeClass::topicCB ( const geometry_msgs::PoseStamped::ConstPtr &  goal )

inline

Definition at line 174 of file cob_linear_nav.cpp.

geometry_msgs::PoseStamped NodeClass::transformGoalToMap ( geometry_msgs::PoseStamped  goal_pose )

private

Definition at line 378 of file cob_linear_nav.cpp.

Member Data Documentation

actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction>* NodeClass::action_client_

Definition at line 62 of file cob_linear_nav.cpp.

actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> NodeClass::as_

Definition at line 58 of file cob_linear_nav.cpp.

bool NodeClass::finished_

private

Definition at line 341 of file cob_linear_nav.cpp.

std::string NodeClass::global_frame_

private

Definition at line 333 of file cob_linear_nav.cpp.

double NodeClass::goal_abortion_speed_

private

Definition at line 363 of file cob_linear_nav.cpp.

double NodeClass::goal_abortion_speed_rot_

private

Definition at line 364 of file cob_linear_nav.cpp.

double NodeClass::goal_abortion_time_

private

Definition at line 339 of file cob_linear_nav.cpp.

geometry_msgs::PoseStamped NodeClass::goal_pose_global_

private

Definition at line 334 of file cob_linear_nav.cpp.

ros::Subscriber NodeClass::goal_sub_

Definition at line 53 of file cob_linear_nav.cpp.

double NodeClass::goal_threshold_

private

Definition at line 363 of file cob_linear_nav.cpp.

double NodeClass::goal_threshold_rot_

private

Definition at line 364 of file cob_linear_nav.cpp.

double NodeClass::kp_

private

Definition at line 365 of file cob_linear_nav.cpp.

double NodeClass::kp_rot_

private

Definition at line 366 of file cob_linear_nav.cpp.

double NodeClass::kv_

private

Definition at line 365 of file cob_linear_nav.cpp.

double NodeClass::kv_rot_

private

Definition at line 366 of file cob_linear_nav.cpp.

double NodeClass::last_time_

private

Definition at line 367 of file cob_linear_nav.cpp.

double NodeClass::last_time_moving_

private

Definition at line 369 of file cob_linear_nav.cpp.

pthread_mutex_t NodeClass::m_mutex

private

Definition at line 345 of file cob_linear_nav.cpp.

bool NodeClass::move_

private

Definition at line 341 of file cob_linear_nav.cpp.

ros::NodeHandle NodeClass::nh_

Definition at line 48 of file cob_linear_nav.cpp.

ros::Subscriber NodeClass::odometry_sub_

Definition at line 53 of file cob_linear_nav.cpp.

move_base_msgs::MoveBaseResult NodeClass::result_

Definition at line 59 of file cob_linear_nav.cpp.

std::string NodeClass::robot_footprint_frame_

private

Definition at line 333 of file cob_linear_nav.cpp.

std::string NodeClass::robot_frame_

private

Definition at line 333 of file cob_linear_nav.cpp.

geometry_msgs::PoseStamped NodeClass::robot_pose_global_

private

Definition at line 336 of file cob_linear_nav.cpp.

geometry_msgs::Vector3Stamped NodeClass::robot_twist_angular_robot_

private

Definition at line 337 of file cob_linear_nav.cpp.

geometry_msgs::Vector3Stamped NodeClass::robot_twist_linear_robot_

private

Definition at line 337 of file cob_linear_nav.cpp.

double NodeClass::slow_down_distance_

private

Definition at line 339 of file cob_linear_nav.cpp.

double NodeClass::speed_threshold_

private

Definition at line 363 of file cob_linear_nav.cpp.

double NodeClass::speed_threshold_rot_

private

Definition at line 364 of file cob_linear_nav.cpp.

ros::ServiceServer NodeClass::ss_

Definition at line 55 of file cob_linear_nav.cpp.

tf::TransformListener NodeClass::tf_listener_

private

Definition at line 332 of file cob_linear_nav.cpp.

double NodeClass::theta_last_

private

Definition at line 362 of file cob_linear_nav.cpp.

ros::Publisher NodeClass::topic_pub_command_

Definition at line 51 of file cob_linear_nav.cpp.

bool NodeClass::use_move_action_

private

Definition at line 343 of file cob_linear_nav.cpp.

double NodeClass::v_max_

private

Definition at line 368 of file cob_linear_nav.cpp.

double NodeClass::virt_mass_

private

Definition at line 365 of file cob_linear_nav.cpp.

double NodeClass::virt_mass_rot_

private

Definition at line 366 of file cob_linear_nav.cpp.

double NodeClass::vtheta_last_

private

Definition at line 362 of file cob_linear_nav.cpp.

double NodeClass::vtheta_max_

private

Definition at line 368 of file cob_linear_nav.cpp.

double NodeClass::vx_last_

private

Definition at line 362 of file cob_linear_nav.cpp.

double NodeClass::vy_last_

private

Definition at line 362 of file cob_linear_nav.cpp.

double NodeClass::x_last_

private

Definition at line 362 of file cob_linear_nav.cpp.

double NodeClass::y_last_

private

Definition at line 362 of file cob_linear_nav.cpp.

geometry_msgs::PoseStamped NodeClass::zero_pose_

private

Definition at line 335 of file cob_linear_nav.cpp.

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

• cob_linear_nav.cpp