#include <collision_checker.h>

Public Member Functions
	CollisionChecker (ros::NodeHandle &nh, tf2_ros::Buffer &tf_buffer, ObstaclePoints &op)

float	obstacle_angle (bool left)

float	obstacle_arc_angle (double linear, double angular)

float	obstacle_dist (bool forward, float &left_dist, float &right_dist, tf2::Vector3 &fl, tf2::Vector3 &fr)

Public Attributes
double	max_side_dist

double	min_side_dist

Private Member Functions
void	check_angle (float theta, float x, float y, bool left, float &min_dist) const

void	check_dist (float x, bool forward, float &min_dist) const

void	clear_line (int id)

float	degrees (float radians) const

void	draw_line (const tf2::Vector3 &p1, const tf2::Vector3 &p2, float r, float g, float b, int id)

Private Attributes
float	back_diag

std::string	baseFrame

float	front_diag

ros::Publisher	line_pub

float	max_age

float	no_obstacle_dist

ObstaclePoints &	ob_points

std::mutex	obstacle_mutex

float	robot_back_length

float	robot_back_length_sq

float	robot_front_length

float	robot_front_length_sq

float	robot_width

float	robot_width_sq

tf2_ros::Buffer &	tf_buffer

Detailed Description

Definition at line 44 of file collision_checker.h.

Constructor & Destructor Documentation

CollisionChecker::CollisionChecker	(	ros::NodeHandle &	nh,
		tf2_ros::Buffer &	tf_buffer,
		ObstaclePoints &	op
	)

Definition at line 75 of file collision_checker.cpp.

Member Function Documentation

void CollisionChecker::check_angle	(	float	theta,
		float	x,
		float	y,
		bool	left,
		float &	min_dist
	)		const

inlineprivate

Definition at line 339 of file collision_checker.cpp.

void CollisionChecker::check_dist	(	float	x,
		bool	forward,
		float &	min_dist
	)		const

inlineprivate

Definition at line 139 of file collision_checker.cpp.

void CollisionChecker::clear_line ( int id )

private

Definition at line 130 of file collision_checker.cpp.

float CollisionChecker::degrees ( float radians ) const

private

Definition at line 329 of file collision_checker.cpp.

void CollisionChecker::draw_line	(	const tf2::Vector3 &	p1,
		const tf2::Vector3 &	p2,
		float	r,
		float	g,
		float	b,
		int	id
	)

private

Definition at line 102 of file collision_checker.cpp.

float CollisionChecker::obstacle_angle ( bool left )

Definition at line 357 of file collision_checker.cpp.

float CollisionChecker::obstacle_arc_angle	(	double	linear,
		double	angular
	)

Definition at line 467 of file collision_checker.cpp.

float CollisionChecker::obstacle_dist	(	bool	forward,
		float &	left_dist,
		float &	right_dist,
		tf2::Vector3 &	fl,
		tf2::Vector3 &	fr
	)

Definition at line 153 of file collision_checker.cpp.

Member Data Documentation

float CollisionChecker::back_diag

private

Definition at line 57 of file collision_checker.h.

std::string CollisionChecker::baseFrame

private

Definition at line 46 of file collision_checker.h.

float CollisionChecker::front_diag

private

Definition at line 57 of file collision_checker.h.

ros::Publisher CollisionChecker::line_pub

private

Definition at line 47 of file collision_checker.h.

float CollisionChecker::max_age

private

Definition at line 59 of file collision_checker.h.

double CollisionChecker::max_side_dist

Definition at line 92 of file collision_checker.h.

double CollisionChecker::min_side_dist

Definition at line 91 of file collision_checker.h.

float CollisionChecker::no_obstacle_dist

private

Definition at line 60 of file collision_checker.h.

ObstaclePoints& CollisionChecker::ob_points

private

Definition at line 63 of file collision_checker.h.

std::mutex CollisionChecker::obstacle_mutex

private

Definition at line 61 of file collision_checker.h.

float CollisionChecker::robot_back_length

private

Definition at line 52 of file collision_checker.h.

float CollisionChecker::robot_back_length_sq

private

Definition at line 56 of file collision_checker.h.

float CollisionChecker::robot_front_length

private

Definition at line 51 of file collision_checker.h.

float CollisionChecker::robot_front_length_sq

private

Definition at line 55 of file collision_checker.h.

float CollisionChecker::robot_width

private

Definition at line 50 of file collision_checker.h.

float CollisionChecker::robot_width_sq

private

Definition at line 54 of file collision_checker.h.

tf2_ros::Buffer& CollisionChecker::tf_buffer

private

Definition at line 48 of file collision_checker.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation