Standard DWA-like trajectory generator. More...

#include <standard_traj_generator.h>

Inheritance diagram for dwb_plugins::StandardTrajectoryGenerator:

Public Member Functions
dwb_msgs::Trajectory2D	generateTrajectory (const geometry_msgs::Pose2D &start_pose, const nav_2d_msgs::Twist2D &start_vel, const nav_2d_msgs::Twist2D &cmd_vel) override

bool	hasMoreTwists () override

void	initialize (ros::NodeHandle &nh) override

nav_2d_msgs::Twist2D	nextTwist () override

void	startNewIteration (const nav_2d_msgs::Twist2D &current_velocity) override

Public Member Functions inherited from dwb_local_planner::TrajectoryGenerator
virtual std::vector< nav_2d_msgs::Twist2D >	getTwists (const nav_2d_msgs::Twist2D &current_velocity)

virtual void	reset ()

virtual	~TrajectoryGenerator ()

Protected Member Functions
virtual void	checkUseDwaParam (const ros::NodeHandle &nh)
	Check if the deprecated use_dwa parameter is set to the functionality that matches this class. More...

virtual geometry_msgs::Pose2D	computeNewPosition (const geometry_msgs::Pose2D start_pose, const nav_2d_msgs::Twist2D &vel, const double dt)
	Use the robot's kinematic model to predict new positions for the robot. More...

virtual nav_2d_msgs::Twist2D	computeNewVelocity (const nav_2d_msgs::Twist2D &cmd_vel, const nav_2d_msgs::Twist2D &start_vel, const double dt)
	Calculate the velocity after a set period of time, given the desired velocity and acceleration limits. More...

virtual std::vector< double >	getTimeSteps (const nav_2d_msgs::Twist2D &cmd_vel)
	Compute an array of time deltas between the points in the generated trajectory. More...

virtual void	initializeIterator (ros::NodeHandle &nh)
	Initialize the VelocityIterator pointer. Put in its own function for easy overriding. More...

Protected Attributes
double	angular_granularity_
	If not discretizing by time, the amount of angular space between points. More...

bool	discretize_by_time_

bool	include_last_point_

KinematicParameters::Ptr	kinematics_

double	linear_granularity_
	If not discretizing by time, the amount of linear space between points. More...

double	sim_time_

double	time_granularity_
	If discretizing by time, the amount of time between each point in the traj. More...

std::shared_ptr< VelocityIterator >	velocity_iterator_

Additional Inherited Members
Public Types inherited from dwb_local_planner::TrajectoryGenerator
typedef std::shared_ptr< dwb_local_planner::TrajectoryGenerator >	Ptr

Detailed Description

Standard DWA-like trajectory generator.

Definition at line 52 of file standard_traj_generator.h.

Member Function Documentation

void dwb_plugins::StandardTrajectoryGenerator::checkUseDwaParam ( const ros::NodeHandle & nh )

protectedvirtual

Check if the deprecated use_dwa parameter is set to the functionality that matches this class.

The functionality guarded by the use_dwa parameter has been split between this class and the derived LimitedAccelGenerator. If use_dwa was false, this class should be used. If it was true, then LimitedAccelGenerator. If this is NOT the case, this function will throw an exception.

Reimplemented in dwb_plugins::LimitedAccelGenerator.

Definition at line 87 of file standard_traj_generator.cpp.

geometry_msgs::Pose2D dwb_plugins::StandardTrajectoryGenerator::computeNewPosition	(	const geometry_msgs::Pose2D	start_pose,
		const nav_2d_msgs::Twist2D &	vel,
		const double	dt
	)

protectedvirtual

Use the robot's kinematic model to predict new positions for the robot.

Parameters

start_pose	Starting pose
vel	Actual robot velocity (assumed to be within acceleration limits)
dt	amount of time in seconds

Returns: New pose after dt seconds

Definition at line 190 of file standard_traj_generator.cpp.

nav_2d_msgs::Twist2D dwb_plugins::StandardTrajectoryGenerator::computeNewVelocity	(	const nav_2d_msgs::Twist2D &	cmd_vel,
		const nav_2d_msgs::Twist2D &	start_vel,
		const double	dt
	)

protectedvirtual

Calculate the velocity after a set period of time, given the desired velocity and acceleration limits.

Parameters

cmd_vel	Desired velocity
start_vel	starting velocity
dt	amount of time in seconds

Returns: new velocity after dt seconds

change vel using acceleration limits to converge towards sample_target-vel

Reimplemented in dwb_plugins::LimitedAccelGenerator.

Definition at line 179 of file standard_traj_generator.cpp.

dwb_msgs::Trajectory2D dwb_plugins::StandardTrajectoryGenerator::generateTrajectory	(	const geometry_msgs::Pose2D &	start_pose,
		const nav_2d_msgs::Twist2D &	start_vel,
		const nav_2d_msgs::Twist2D &	cmd_vel
	)

overridevirtual

Implements dwb_local_planner::TrajectoryGenerator.

Definition at line 143 of file standard_traj_generator.cpp.

std::vector< double > dwb_plugins::StandardTrajectoryGenerator::getTimeSteps ( const nav_2d_msgs::Twist2D & cmd_vel )

protectedvirtual

Compute an array of time deltas between the points in the generated trajectory.

Parameters

cmd_vel The desired command velocity

Returns: vector of the difference between each time step in the generated trajectory

If we are discretizing by time, the returned vector will be the same constant time_granularity for all cmd_vels. Otherwise, you will get times based on the linear/angular granularity.

Right now the vector contains a single value repeated many times, but this method could be overridden to allow for dynamic spacing

Definition at line 113 of file standard_traj_generator.cpp.

bool dwb_plugins::StandardTrajectoryGenerator::hasMoreTwists ( )

overridevirtual

Implements dwb_local_planner::TrajectoryGenerator.

Definition at line 103 of file standard_traj_generator.cpp.

void dwb_plugins::StandardTrajectoryGenerator::initialize ( ros::NodeHandle & nh )

overridevirtual

Implements dwb_local_planner::TrajectoryGenerator.

Definition at line 50 of file standard_traj_generator.cpp.

void dwb_plugins::StandardTrajectoryGenerator::initializeIterator ( ros::NodeHandle & nh )

protectedvirtual