Public Member Functions
	MoveBasic ()

bool	moveLinear (tf2::Transform &goalInDriving, const std::string &drivingFrame)

bool	rotate (double requestedYaw, const std::string &drivingFrame)

void	run ()

Public Attributes
tf2::Transform	goalInPlanning

Private Member Functions
void	abortGoal (const std::string msg)

void	drawLine (double x0, double y0, double x1, double y1)

void	dynamicReconfigCallback (move_basic::MovebasicConfig &config, uint32_t)

void	executeAction (const move_base_msgs::MoveBaseGoalConstPtr &goal)

bool	getTransform (const std::string &from, const std::string &to, tf2::Transform &tf)

void	goalCallback (const geometry_msgs::PoseStamped::ConstPtr &msg)

void	sendCmd (double angular, double linear)

void	stopCallback (const std_msgs::Bool::ConstPtr &msg)

bool	transformPose (const std::string &from, const std::string &to, const tf2::Transform &in, tf2::Transform &out)

Private Attributes
std::unique_ptr< MoveBaseActionServer >	actionServer

std::string	alternateDrivingFrame

std::string	alternatePlanningFrame

double	angularTolerance

std::string	baseFrame

ros::Publisher	cmdPub

std::unique_ptr< CollisionChecker >	collision_checker

dynamic_reconfigure::Server< move_basic::MovebasicConfig >	dr_srv

ros::Publisher	errorPub

tf2::Vector3	forwardLeft

float	forwardObstacleDist

double	forwardObstacleThreshold

tf2::Vector3	forwardRight

ros::Publisher	goalPub

ros::Subscriber	goalSub

double	lateralKd

double	lateralKi

double	lateralKp

float	leftObstacleDist

double	linearAcceleration

double	linearTolerance

tf2_ros::TransformListener	listener

double	localizationLatency

double	maxLateralVelocity

double	maxLinearVelocity

double	maxTurningVelocity

double	minLinearVelocity

double	minSideDist

double	minTurningVelocity

std::unique_ptr< ObstaclePoints >	obstacle_points

ros::Publisher	obstacleDistPub

double	obstacleWaitThreshold

ros::Publisher	pathPub

std::string	preferredDrivingFrame

std::string	preferredPlanningFrame

float	rightObstacleDist

double	runawayTimeoutSecs

bool	stop

ros::Subscriber	stopSub

tf2_ros::Buffer	tfBuffer

double	turningAcceleration

Detailed Description

Definition at line 56 of file move_basic.cpp.

Constructor & Destructor Documentation

MoveBasic::MoveBasic ( )

Definition at line 179 of file move_basic.cpp.

Member Function Documentation

void MoveBasic::abortGoal ( const std::string msg )

private

Definition at line 345 of file move_basic.cpp.

void MoveBasic::drawLine	(	double	x0,
		double	y0,
		double	x1,
		double	y1
	)

private

void MoveBasic::dynamicReconfigCallback	(	move_basic::MovebasicConfig &	config,
		uint32_t
	)

private

Definition at line 294 of file move_basic.cpp.

void MoveBasic::executeAction ( const move_base_msgs::MoveBaseGoalConstPtr & goal )

private

Definition at line 354 of file move_basic.cpp.

bool MoveBasic::getTransform	(	const std::string &	from,
		const std::string &	to,
		tf2::Transform &	tf
	)

private

Definition at line 265 of file move_basic.cpp.

void MoveBasic::goalCallback ( const geometry_msgs::PoseStamped::ConstPtr & msg )

private

Definition at line 330 of file move_basic.cpp.

bool MoveBasic::moveLinear	(	tf2::Transform &	goalInDriving,
		const std::string &	drivingFrame
	)

Definition at line 627 of file move_basic.cpp.

bool MoveBasic::rotate	(	double	requestedYaw,
		const std::string &	drivingFrame
	)

Definition at line 555 of file move_basic.cpp.

void MoveBasic::run ( )

Definition at line 531 of file move_basic.cpp.

void MoveBasic::sendCmd	(	double	angular,
		double	linear
	)

private

Definition at line 515 of file move_basic.cpp.

void MoveBasic::stopCallback ( const std_msgs::Bool::ConstPtr & msg )

private

Definition at line 322 of file move_basic.cpp.

bool MoveBasic::transformPose	(	const std::string &	from,
		const std::string &	to,
		const tf2::Transform &	in,
		tf2::Transform &	out
	)

private

Definition at line 281 of file move_basic.cpp.

Member Data Documentation

std::unique_ptr<MoveBaseActionServer> MoveBasic::actionServer

private

Definition at line 67 of file move_basic.cpp.

std::string MoveBasic::alternateDrivingFrame

private

Definition at line 105 of file move_basic.cpp.

std::string MoveBasic::alternatePlanningFrame

private

Definition at line 103 of file move_basic.cpp.

double MoveBasic::angularTolerance

private

Definition at line 77 of file move_basic.cpp.

std::string MoveBasic::baseFrame

private

Definition at line 106 of file move_basic.cpp.

ros::Publisher MoveBasic::cmdPub

private

Definition at line 62 of file move_basic.cpp.

std::unique_ptr<CollisionChecker> MoveBasic::collision_checker

private

Definition at line 68 of file move_basic.cpp.

dynamic_reconfigure::Server<move_basic::MovebasicConfig> MoveBasic::dr_srv

private

Definition at line 108 of file move_basic.cpp.

ros::Publisher MoveBasic::errorPub

private

Definition at line 65 of file move_basic.cpp.

tf2::Vector3 MoveBasic::forwardLeft

private

Definition at line 99 of file move_basic.cpp.

float MoveBasic::forwardObstacleDist

private

Definition at line 96 of file move_basic.cpp.

double MoveBasic::forwardObstacleThreshold

private

Definition at line 90 of file move_basic.cpp.

tf2::Vector3 MoveBasic::forwardRight

private

Definition at line 100 of file move_basic.cpp.

tf2::Transform MoveBasic::goalInPlanning

Definition at line 133 of file move_basic.cpp.

ros::Publisher MoveBasic::goalPub

private

Definition at line 61 of file move_basic.cpp.

ros::Subscriber MoveBasic::goalSub

private

Definition at line 58 of file move_basic.cpp.

double MoveBasic::lateralKd

private

Definition at line 87 of file move_basic.cpp.

double MoveBasic::lateralKi

private

Definition at line 86 of file move_basic.cpp.

double MoveBasic::lateralKp

private

Definition at line 85 of file move_basic.cpp.

float MoveBasic::leftObstacleDist

private

Definition at line 97 of file move_basic.cpp.

double MoveBasic::linearAcceleration

private

Definition at line 82 of file move_basic.cpp.

double MoveBasic::linearTolerance

private

Definition at line 83 of file move_basic.cpp.

tf2_ros::TransformListener MoveBasic::listener

private

Definition at line 72 of file move_basic.cpp.

double MoveBasic::localizationLatency

private

Definition at line 92 of file move_basic.cpp.

double MoveBasic::maxLateralVelocity

private

Definition at line 78 of file move_basic.cpp.

double MoveBasic::maxLinearVelocity

private

Definition at line 80 of file move_basic.cpp.

double MoveBasic::maxTurningVelocity

private

Definition at line 75 of file move_basic.cpp.

double MoveBasic::minLinearVelocity

private

Definition at line 81 of file move_basic.cpp.

double MoveBasic::minSideDist

private

Definition at line 91 of file move_basic.cpp.

double MoveBasic::minTurningVelocity

private

Definition at line 74 of file move_basic.cpp.

std::unique_ptr<ObstaclePoints> MoveBasic::obstacle_points

private

Definition at line 69 of file move_basic.cpp.

ros::Publisher MoveBasic::obstacleDistPub

private

Definition at line 64 of file move_basic.cpp.

double MoveBasic::obstacleWaitThreshold

private

Definition at line 89 of file move_basic.cpp.

ros::Publisher MoveBasic::pathPub

private

Definition at line 63 of file move_basic.cpp.

std::string MoveBasic::preferredDrivingFrame

private

Definition at line 104 of file move_basic.cpp.

std::string MoveBasic::preferredPlanningFrame

private

Definition at line 102 of file move_basic.cpp.

float MoveBasic::rightObstacleDist

private

Definition at line 98 of file move_basic.cpp.

double MoveBasic::runawayTimeoutSecs

private

Definition at line 93 of file move_basic.cpp.

bool MoveBasic::stop

private

Definition at line 94 of file move_basic.cpp.

ros::Subscriber MoveBasic::stopSub

private

Definition at line 59 of file move_basic.cpp.

tf2_ros::Buffer MoveBasic::tfBuffer

private

Definition at line 71 of file move_basic.cpp.

double MoveBasic::turningAcceleration

private

Definition at line 76 of file move_basic.cpp.

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

move_basic.cpp

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation