Classes
class	KinematicParameters
	A dynamically reconfigurable class containing one representation of the robot's kinematics. More...

class	LimitedAccelGenerator
	Limits the acceleration in the generated trajectories to a fraction of the simulated time. More...

class	OneDVelocityIterator
	An iterator for generating a number of samples in a range. More...

class	SimpleGoalChecker
	Goal Checker plugin that only checks the position difference. More...

class	StandardTrajectoryGenerator
	Standard DWA-like trajectory generator. More...

class	StoppedGoalChecker
	Goal Checker plugin that checks the position difference and velocity. More...

class	VelocityIterator

class	XYThetaIterator

Functions
double	projectVelocity (double v0, double accel, double decel, double dt, double target)
	Given initial conditions and a time, figure out the end velocity. More...

void	setDecelerationAsNeeded (const ros::NodeHandle &nh, const std::string dimension)
	Helper function to set the deceleration to the negative acceleration if it was not already set. More...

Function Documentation

double dwb_plugins::projectVelocity	(	double	v0,
		double	accel,
		double	decel,
		double	dt,
		double	target
	)

inline

Given initial conditions and a time, figure out the end velocity.

Parameters

v0	Initial velocity
accel	The acceleration rate
decel	The decceleration rate
dt	Delta time - amount of time to project into the future
target	target velocity

Definition at line 56 of file one_d_velocity_iterator.h.

void dwb_plugins::setDecelerationAsNeeded	(	const ros::NodeHandle &	nh,
		const std::string	dimension
	)

Helper function to set the deceleration to the negative acceleration if it was not already set.

Parameters

nh	NodeHandle
dimension	String representing the dimension, used in constructing parameter names

Definition at line 51 of file kinematic_parameters.cpp.

Variable Documentation

const double dwb_plugins::EPSILON = 1E-5

Definition at line 44 of file one_d_velocity_iterator.h.