kobuki_testsuite.motion_wander.SafeWandering Class Reference

Inheritance diagram for kobuki_testsuite.motion_wander.SafeWandering:

Public Member Functions
def	__init__ (self, cmd_vel_topic, odom_topic, bumper_topic, cliff_topic)
def	bumper_event_callback (self, data)
def	cliff_event_callback (self, data)
def	command (self, twist)
def	execute (self)
def	go (self)
def	init (self, speed, stepback_speed, angular_speed)
def	odometry_callback (self, data)
	Callbacks. More...
def	reached (self)
def	shutdown (self)
def	stepback (self)
def	stop (self)
def	turn (self)

Public Attributes
	bumper_subscriber
	cliff_subscriber
	cmd_vel_publisher
	odom_subscriber
	ok
	rate
	theta
	theta_goal

Private Attributes
	_ang_zvel
	_lin_xvel
	_running
	_stepback_xvel
	_stop

Detailed Description

  Initialise everything, then starts with start()

  API:
    start() - start to wander. 
    stop()  - stop wandering.
    set_vels(lin_xvel,stepback_xvel,ang_zvel)
  
  @param topic names
  @type strings

Definition at line 39 of file motion_wander.py.

Constructor & Destructor Documentation

def kobuki_testsuite.motion_wander.SafeWandering.__init__	(		self,
			cmd_vel_topic,
			odom_topic,
			bumper_topic,
			cliff_topic
	)

Definition at line 51 of file motion_wander.py.

Member Function Documentation

def kobuki_testsuite.motion_wander.SafeWandering.bumper_event_callback	(		self,
			data
	)

Definition at line 155 of file motion_wander.py.

def kobuki_testsuite.motion_wander.SafeWandering.cliff_event_callback	(		self,
			data
	)

Definition at line 165 of file motion_wander.py.

def kobuki_testsuite.motion_wander.SafeWandering.command	(		self,
			twist
	)

  Lowest level of command - i.e. this is where the fine grained looping happens
  so we check for aborts here. Don't waste time doing anything if this is the case.

Definition at line 84 of file motion_wander.py.

def kobuki_testsuite.motion_wander.SafeWandering.execute

(

self

)

Definition at line 129 of file motion_wander.py.

def kobuki_testsuite.motion_wander.SafeWandering.go

(

self

)

Definition at line 95 of file motion_wander.py.

def kobuki_testsuite.motion_wander.SafeWandering.init	(		self,
			speed,
			stepback_speed,
			angular_speed
	)

Definition at line 69 of file motion_wander.py.

def kobuki_testsuite.motion_wander.SafeWandering.odometry_callback	(		self,
			data
	)

Callbacks.

Definition at line 148 of file motion_wander.py.

def kobuki_testsuite.motion_wander.SafeWandering.reached

(

self

)

Definition at line 120 of file motion_wander.py.

def kobuki_testsuite.motion_wander.SafeWandering.shutdown

(

self

)

Definition at line 75 of file motion_wander.py.

def kobuki_testsuite.motion_wander.SafeWandering.stepback

(

self

)

Definition at line 103 of file motion_wander.py.

def kobuki_testsuite.motion_wander.SafeWandering.stop

(

self

)

Definition at line 126 of file motion_wander.py.

def kobuki_testsuite.motion_wander.SafeWandering.turn

(

self

)

Definition at line 111 of file motion_wander.py.

Member Data Documentation

kobuki_testsuite.motion_wander.SafeWandering._ang_zvel

private

Definition at line 67 of file motion_wander.py.

kobuki_testsuite.motion_wander.SafeWandering._lin_xvel

private

Definition at line 65 of file motion_wander.py.

kobuki_testsuite.motion_wander.SafeWandering._running

private

Definition at line 63 of file motion_wander.py.

kobuki_testsuite.motion_wander.SafeWandering._stepback_xvel

private

Definition at line 66 of file motion_wander.py.

kobuki_testsuite.motion_wander.SafeWandering._stop

private

Definition at line 62 of file motion_wander.py.

kobuki_testsuite.motion_wander.SafeWandering.bumper_subscriber

Definition at line 53 of file motion_wander.py.

kobuki_testsuite.motion_wander.SafeWandering.cliff_subscriber

Definition at line 54 of file motion_wander.py.

kobuki_testsuite.motion_wander.SafeWandering.cmd_vel_publisher

Definition at line 56 of file motion_wander.py.

kobuki_testsuite.motion_wander.SafeWandering.odom_subscriber

Definition at line 55 of file motion_wander.py.

kobuki_testsuite.motion_wander.SafeWandering.ok

Definition at line 59 of file motion_wander.py.

kobuki_testsuite.motion_wander.SafeWandering.rate

Definition at line 57 of file motion_wander.py.

kobuki_testsuite.motion_wander.SafeWandering.theta

Definition at line 60 of file motion_wander.py.

kobuki_testsuite.motion_wander.SafeWandering.theta_goal

Definition at line 61 of file motion_wander.py.

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

• motion_wander.py