#include <eband_trajectory_controller.h>

Public Member Functions
	EBandTrajectoryCtrl ()
	Default constructor. More...

	EBandTrajectoryCtrl (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Constructs the elastic band object. More...

bool	getTwist (geometry_msgs::Twist &twist_cmd, bool &goal_reached)
	calculates a twist feedforward command from the current band More...

bool	getTwistDifferentialDrive (geometry_msgs::Twist &twist_cmd, bool &goal_reached)

void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initializes the elastic band class by accesing costmap and loading parameters. More...

void	reconfigure (EBandPlannerConfig &config)
	Reconfigures the parameters of the planner. More...

bool	setBand (const std::vector< Bubble > &elastic_band)
	This sets the elastic_band to the trajectory controller. More...

bool	setOdometry (const nav_msgs::Odometry &odometry)
	This sets the robot velocity as provided by odometry. More...

void	setVisualization (boost::shared_ptr< EBandVisualization > target_visual)
	passes a reference to the eband visualization object which can be used to visualize the band optimization More...

	~EBandTrajectoryCtrl ()
	Destructor. More...

Private Member Functions
double	getBubbleTargetVel (const int &target_bub_num, const std::vector< Bubble > &band, geometry_msgs::Twist &VelDir)
	gets the max velocity allowed within this bubble depending on size of the bubble and pose and size of the following bubble More...

geometry_msgs::Twist	getFrame1ToFrame2InRefFrame (const geometry_msgs::Pose &frame1, const geometry_msgs::Pose &frame2, const geometry_msgs::Pose &ref_frame)
	Transforms Pose of frame 1 and 2 into reference frame and gets difference of frame 1 and 2. More...

geometry_msgs::Twist	getFrame1ToFrame2InRefFrameNew (const geometry_msgs::Pose &frame1, const geometry_msgs::Pose &frame2, const geometry_msgs::Pose &ref_frame)

geometry_msgs::Twist	limitTwist (const geometry_msgs::Twist &twist)
	limits the twist to the allowed range More...

double	sign (double n)
	defines sign of a double More...

geometry_msgs::Twist	transformTwistFromFrame1ToFrame2 (const geometry_msgs::Twist &curr_twist, const geometry_msgs::Pose &frame1, const geometry_msgs::Pose &frame2)

Private Attributes
double	acc_max_

double	acc_max_rot_

double	acc_max_trans_

bool	band_set_

double	bubble_velocity_multiplier_

costmap_2d::Costmap2DROS *	costmap_ros_
	pointer to costmap More...

double	ctrl_freq_

bool	differential_drive_hack_

bool	disallow_hysteresis_

std::vector< Bubble >	elastic_band_

bool	in_final_goal_turn_

double	in_place_trans_vel_

bool	initialized_

double	k_nu_

double	k_p_

geometry_msgs::Twist	last_vel_

double	max_vel_lin_

double	max_vel_th_

double	min_in_place_vel_th_

double	min_vel_lin_

double	min_vel_th_

geometry_msgs::Twist	odom_vel_

control_toolbox::Pid	pid_

geometry_msgs::Pose	ref_frame_band_

double	rotation_correction_threshold_

double	rotation_threshold_multiplier_

boost::shared_ptr< EBandVisualization >	target_visual_

double	tolerance_rot_

double	tolerance_trans_

double	virt_mass_

bool	visualization_

Detailed Description

Definition at line 71 of file eband_trajectory_controller.h.

Constructor & Destructor Documentation

eband_local_planner::EBandTrajectoryCtrl::EBandTrajectoryCtrl ( )

Default constructor.

Definition at line 48 of file eband_trajectory_controller.cpp.

eband_local_planner::EBandTrajectoryCtrl::EBandTrajectoryCtrl	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Constructs the elastic band object.

Parameters

name	The name to give this instance of the elastic band local planner
costmap	The cost map to use for assigning costs to trajectories

Definition at line 51 of file eband_trajectory_controller.cpp.

eband_local_planner::EBandTrajectoryCtrl::~EBandTrajectoryCtrl ( )

Destructor.

Definition at line 62 of file eband_trajectory_controller.cpp.

Member Function Documentation

double eband_local_planner::EBandTrajectoryCtrl::getBubbleTargetVel	(	const int &	target_bub_num,
		const std::vector< Bubble > &	band,
		geometry_msgs::Twist &	VelDir
	)

private

gets the max velocity allowed within this bubble depending on size of the bubble and pose and size of the following bubble

Parameters

number	of the bubble of interest within the band
band	in which the bubble is in

Returns: absolute value of maximum allowed velocity within this bubble

Definition at line 707 of file eband_trajectory_controller.cpp.

geometry_msgs::Twist eband_local_planner::EBandTrajectoryCtrl::getFrame1ToFrame2InRefFrame	(	const geometry_msgs::Pose &	frame1,
		const geometry_msgs::Pose &	frame2,
		const geometry_msgs::Pose &	ref_frame
	)

private

Transforms Pose of frame 1 and 2 into reference frame and gets difference of frame 1 and 2.

Parameters

refernce	to pose of frame1
reference	to pose of frame2
reference	to pose of reference frame

Returns: vector from frame1 to frame2 in coordinates of the reference frame

Definition at line 767 of file eband_trajectory_controller.cpp.

geometry_msgs::Twist eband_local_planner::EBandTrajectoryCtrl::getFrame1ToFrame2InRefFrameNew	(	const geometry_msgs::Pose &	frame1,
		const geometry_msgs::Pose &	frame2,
		const geometry_msgs::Pose &	ref_frame
	)

private

Definition at line 807 of file eband_trajectory_controller.cpp.

bool eband_local_planner::EBandTrajectoryCtrl::getTwist	(	geometry_msgs::Twist &	twist_cmd,
		bool &	goal_reached
	)

calculates a twist feedforward command from the current band

Parameters

refernce to the twist cmd

Definition at line 353 of file eband_trajectory_controller.cpp.

bool eband_local_planner::EBandTrajectoryCtrl::getTwistDifferentialDrive	(	geometry_msgs::Twist &	twist_cmd,
		bool &	goal_reached
	)

Definition at line 177 of file eband_trajectory_controller.cpp.

void eband_local_planner::EBandTrajectoryCtrl::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Initializes the elastic band class by accesing costmap and loading parameters.

Parameters

name	The name to give this instance of the trajectory planner
costmap	The cost map to use for assigning costs to trajectories

Definition at line 65 of file eband_trajectory_controller.cpp.

geometry_msgs::Twist eband_local_planner::EBandTrajectoryCtrl::limitTwist ( const geometry_msgs::Twist & twist )

private

limits the twist to the allowed range

Parameters

reference to unconstrained twist

Returns: twist in allowed range

Definition at line 859 of file eband_trajectory_controller.cpp.

void eband_local_planner::EBandTrajectoryCtrl::reconfigure ( EBandPlannerConfig & config )

Reconfigures the parameters of the planner.

Parameters

config The dynamic reconfigure configuration

Definition at line 104 of file eband_trajectory_controller.cpp.

bool eband_local_planner::EBandTrajectoryCtrl::setBand ( const std::vector< Bubble > & elastic_band )

This sets the elastic_band to the trajectory controller.

Parameters

reference via which the band is passed

Definition at line 139 of file eband_trajectory_controller.cpp.

bool eband_local_planner::EBandTrajectoryCtrl::setOdometry ( const nav_msgs::Odometry & odometry )

This sets the robot velocity as provided by odometry.

Parameters

reference via which odometry is passed

Definition at line 147 of file eband_trajectory_controller.cpp.

void eband_local_planner::EBandTrajectoryCtrl::setVisualization ( boost::shared_ptr< EBandVisualization > target_visual )

passes a reference to the eband visualization object which can be used to visualize the band optimization

Parameters

pointer to visualization object

Definition at line 132 of file eband_trajectory_controller.cpp.

double eband_local_planner::EBandTrajectoryCtrl::sign ( double n )

inlineprivate

defines sign of a double

Definition at line 166 of file eband_trajectory_controller.h.

geometry_msgs::Twist eband_local_planner::EBandTrajectoryCtrl::transformTwistFromFrame1ToFrame2	(	const geometry_msgs::Twist &	curr_twist,
		const geometry_msgs::Pose &	frame1,
		const geometry_msgs::Pose &	frame2
	)