Classes
class	LinkBody

Public Types
using	Astar = GridAstar< 2, 0 >

using	Ptr = std::shared_ptr< Planner2dofSerialJointsNode >

Public Member Functions
	Planner2dofSerialJointsNode (const std::string group_name)

Private Types
enum	PointVelMode { VEL_PREV, VEL_NEXT, VEL_AVG }

Private Member Functions
void	cbJoint (const sensor_msgs::JointState::ConstPtr &msg)

bool	cbProgress (const std::list< Astar::Vec > &, const SearchStats &)

void	cbTrajectory (const trajectory_msgs::JointTrajectory::ConstPtr &msg)

void	grid2Metric (const int t0, const int t1, float &gt0, float &gt1)

void	grid2Metric (const Astar::Vec t, Astar::Vecf &gt)

bool	makePlan (const Astar::Vecf sg, const Astar::Vecf eg, std::list< Astar::Vecf > &path)

void	metric2Grid (int &t0, int &t1, const float gt0, const float gt1)

void	metric2Grid (Astar::Vec &t, const Astar::Vecf gt)

void	replan ()

Private Attributes
Astar	as_

float	avg_vel_

Astar::Gridmap< char, 0x40 >	cm_

std::pair< ros::Duration, std::pair< float, float > >	cmd_prev_

bool	debug_aa_

float	freq_

float	freq_min_

std::string	group_

bool	has_joint_states_

int	id_ [2]

sensor_msgs::JointState	joint_

LinkBody	links_ [2]

GridAstarModel2DoFSerialJoint::Ptr	model_

ros::NodeHandle	nh_

ros::NodeHandle	pnh_

PointVelMode	point_vel_

ros::Publisher	pub_status_

ros::Publisher	pub_trajectory_

ros::Duration	replan_interval_

ros::Time	replan_prev_

int	resolution_

planner_cspace_msgs::PlannerStatus	status_

ros::Subscriber	sub_joint_

ros::Subscriber	sub_trajectory_

tf2_ros::Buffer	tfbuf_

tf2_ros::TransformListener	tfl_

trajectory_msgs::JointTrajectory	traj_prev_

Detailed Description

Definition at line 57 of file planner_2dof_serial_joints.cpp.

Member Typedef Documentation

using planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::Astar = GridAstar<2, 0>

Definition at line 60 of file planner_2dof_serial_joints.cpp.

using planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::Ptr = std::shared_ptr<Planner2dofSerialJointsNode>

Definition at line 61 of file planner_2dof_serial_joints.cpp.

Member Enumeration Documentation

enum planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::PointVelMode

private

Enumerator
VEL_PREV
VEL_NEXT
VEL_AVG

Definition at line 83 of file planner_2dof_serial_joints.cpp.

Constructor & Destructor Documentation

planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::Planner2dofSerialJointsNode ( const std::string group_name )

inlineexplicit

Definition at line 369 of file planner_2dof_serial_joints.cpp.

Member Function Documentation

void planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::cbJoint ( const sensor_msgs::JointState::ConstPtr & msg )

inlineprivate

Definition at line 165 of file planner_2dof_serial_joints.cpp.

bool planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::cbProgress	(	const std::list< Astar::Vec > &	,
		const SearchStats &
	)

inlineprivate

Definition at line 657 of file planner_2dof_serial_joints.cpp.

void planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::cbTrajectory ( const trajectory_msgs::JointTrajectory::ConstPtr & msg )

inlineprivate

Definition at line 194 of file planner_2dof_serial_joints.cpp.

void planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::grid2Metric	(	const int	t0,
		const int	t1,
		float &	gt0,
		float &	gt1
	)

inlineprivate

Definition at line 516 of file planner_2dof_serial_joints.cpp.

void planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::grid2Metric	(	const Astar::Vec	t,
		Astar::Vecf &	gt
	)

inlineprivate

Definition at line 530 of file planner_2dof_serial_joints.cpp.

bool planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::makePlan	(	const Astar::Vecf	sg,
		const Astar::Vecf	eg,
		std::list< Astar::Vecf > &	path
	)

inlineprivate

Definition at line 542 of file planner_2dof_serial_joints.cpp.

void planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::metric2Grid	(	int &	t0,
		int &	t1,
		const float	gt0,
		const float	gt1
	)

inlineprivate

Definition at line 523 of file planner_2dof_serial_joints.cpp.

void planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::metric2Grid	(	Astar::Vec &	t,
		const Astar::Vecf	gt
	)

inlineprivate

Definition at line 536 of file planner_2dof_serial_joints.cpp.

void planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::replan ( )

inlineprivate

Definition at line 226 of file planner_2dof_serial_joints.cpp.

Member Data Documentation

Astar planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::as_

private

Definition at line 75 of file planner_2dof_serial_joints.cpp.

float planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::avg_vel_

private

Definition at line 82 of file planner_2dof_serial_joints.cpp.

Astar::Gridmap<char, 0x40> planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::cm_

private

Definition at line 76 of file planner_2dof_serial_joints.cpp.

std::pair<ros::Duration, std::pair<float, float> > planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::cmd_prev_

private

Definition at line 191 of file planner_2dof_serial_joints.cpp.

bool planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::debug_aa_

private

Definition at line 93 of file planner_2dof_serial_joints.cpp.

float planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::freq_

private

Definition at line 79 of file planner_2dof_serial_joints.cpp.

float planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::freq_min_

private

Definition at line 80 of file planner_2dof_serial_joints.cpp.

std::string planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::group_

private

Definition at line 91 of file planner_2dof_serial_joints.cpp.

bool planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::has_joint_states_

private

Definition at line 163 of file planner_2dof_serial_joints.cpp.

int planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::id_[2]

private

Definition at line 193 of file planner_2dof_serial_joints.cpp.

sensor_msgs::JointState planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::joint_

private

Definition at line 160 of file planner_2dof_serial_joints.cpp.

LinkBody planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::links_[2]

private

Definition at line 157 of file planner_2dof_serial_joints.cpp.

GridAstarModel2DoFSerialJoint::Ptr planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::model_

private

Definition at line 77 of file planner_2dof_serial_joints.cpp.

ros::NodeHandle planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::nh_

private

Definition at line 64 of file planner_2dof_serial_joints.cpp.

ros::NodeHandle planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::pnh_

private

Definition at line 65 of file planner_2dof_serial_joints.cpp.

PointVelMode planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::point_vel_

private

Definition at line 89 of file planner_2dof_serial_joints.cpp.

ros::Publisher planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::pub_status_

private

Definition at line 67 of file planner_2dof_serial_joints.cpp.

ros::Publisher planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::pub_trajectory_

private

Definition at line 68 of file planner_2dof_serial_joints.cpp.

ros::Duration planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::replan_interval_

private

Definition at line 162 of file planner_2dof_serial_joints.cpp.

ros::Time planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::replan_prev_

private

Definition at line 161 of file planner_2dof_serial_joints.cpp.

int planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::resolution_

private

Definition at line 81 of file planner_2dof_serial_joints.cpp.

planner_cspace_msgs::PlannerStatus planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::status_

private

Definition at line 159 of file planner_2dof_serial_joints.cpp.

ros::Subscriber planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::sub_joint_

private

Definition at line 70 of file planner_2dof_serial_joints.cpp.

ros::Subscriber planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::sub_trajectory_

private

Definition at line 69 of file planner_2dof_serial_joints.cpp.

tf2_ros::Buffer planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::tfbuf_

private

Definition at line 72 of file planner_2dof_serial_joints.cpp.

tf2_ros::TransformListener planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::tfl_

private

Definition at line 73 of file planner_2dof_serial_joints.cpp.

trajectory_msgs::JointTrajectory planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::traj_prev_

private

Definition at line 192 of file planner_2dof_serial_joints.cpp.

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

planner_2dof_serial_joints.cpp

Classes

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation