#include <pose_follower.h>

Inheritance diagram for pose_follower::PoseFollower:

Public Member Functions
bool	computeVelocityCommands (geometry_msgs::Twist &cmd_vel)

void	initialize (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS costmap_ros)

bool	isGoalReached ()

	PoseFollower ()

bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &global_plan)

	~PoseFollower ()

Public Member Functions inherited from nav_core::BaseLocalPlanner
virtual	~BaseLocalPlanner ()

Private Member Functions
geometry_msgs::Twist	diff2D (const tf::Pose &pose1, const tf::Pose &pose2)

double	headingDiff (double pt_x, double pt_y, double x, double y, double heading)

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

void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)

void	publishPlan (const std::vector< geometry_msgs::PoseStamped > &path, const ros::Publisher &pub)

void	reconfigureCB (pose_follower::PoseFollowerConfig &config, uint32_t level)

double	sign (double n)

bool	stopped ()

bool	transformGlobalPlan (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const costmap_2d::Costmap2DROS &costmap, const std::string &global_frame, std::vector< geometry_msgs::PoseStamped > &transformed_plan)

Private Attributes
bool	allow_backwards_

nav_msgs::Odometry	base_odom_

base_local_planner::TrajectoryPlannerROS	collision_planner_

costmap_2d::Costmap2DROS *	costmap_ros_

unsigned int	current_waypoint_

dynamic_reconfigure::Server< pose_follower::PoseFollowerConfig > *	dsrv_

std::vector< geometry_msgs::PoseStamped >	global_plan_

ros::Publisher	global_plan_pub_

ros::Time	goal_reached_time_

bool	holonomic_

double	in_place_trans_vel_

double	K_rot_

double	K_trans_

double	max_heading_diff_before_moving_

double	max_vel_lin_

double	max_vel_th_

double	min_in_place_vel_th_

double	min_vel_lin_

double	min_vel_th_

boost::mutex	odom_lock_

ros::Subscriber	odom_sub_

double	rot_stopped_velocity_

int	samples_

tf::TransformListener *	tf_

double	tolerance_rot_

double	tolerance_timeout_

double	tolerance_trans_

double	trans_stopped_velocity_

bool	turn_in_place_first_

Additional Inherited Members
Protected Member Functions inherited from nav_core::BaseLocalPlanner
	BaseLocalPlanner ()

Detailed Description

Definition at line 53 of file pose_follower.h.

Constructor & Destructor Documentation

pose_follower::PoseFollower::PoseFollower ( )

Definition at line 44 of file pose_follower.cpp.

pose_follower::PoseFollower::~PoseFollower ( )

Definition at line 46 of file pose_follower.cpp.

Member Function Documentation

bool pose_follower::PoseFollower::computeVelocityCommands ( geometry_msgs::Twist & cmd_vel )

virtual

Implements nav_core::BaseLocalPlanner.

Definition at line 157 of file pose_follower.cpp.

geometry_msgs::Twist pose_follower::PoseFollower::diff2D	(	const tf::Pose &	pose1,
		const tf::Pose &	pose2
	)

private

Definition at line 263 of file pose_follower.cpp.

double pose_follower::PoseFollower::headingDiff	(	double	pt_x,
		double	pt_y,
		double	x,
		double	y,
		double	heading
	)

private

Definition at line 109 of file pose_follower.cpp.

void pose_follower::PoseFollower::initialize	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

virtual

Implements nav_core::BaseLocalPlanner.

Definition at line 50 of file pose_follower.cpp.

bool pose_follower::PoseFollower::isGoalReached ( )

virtual

Implements nav_core::BaseLocalPlanner.

Definition at line 256 of file pose_follower.cpp.

geometry_msgs::Twist pose_follower::PoseFollower::limitTwist ( const geometry_msgs::Twist & twist )

private

Definition at line 308 of file pose_follower.cpp.

void pose_follower::PoseFollower::odomCallback ( const nav_msgs::Odometry::ConstPtr & msg )

private

Definition at line 99 of file pose_follower.cpp.

void pose_follower::PoseFollower::publishPlan	(	const std::vector< geometry_msgs::PoseStamped > &	path,
		const ros::Publisher &	pub
	)

private

Definition at line 138 of file pose_follower.cpp.

void pose_follower::PoseFollower::reconfigureCB	(	pose_follower::PoseFollowerConfig &	config,
		uint32_t	level
	)

private

Definition at line 76 of file pose_follower.cpp.

bool pose_follower::PoseFollower::setPlan ( const std::vector< geometry_msgs::PoseStamped > & global_plan )

virtual

Implements nav_core::BaseLocalPlanner.

Definition at line 243 of file pose_follower.cpp.

double pose_follower::PoseFollower::sign ( double n )

inlineprivate

Definition at line 63 of file pose_follower.h.

bool pose_follower::PoseFollower::stopped ( )

private

Definition at line 125 of file pose_follower.cpp.

bool pose_follower::PoseFollower::transformGlobalPlan	(	const tf::TransformListener &	tf,
		const std::vector< geometry_msgs::PoseStamped > &	global_plan,
		const costmap_2d::Costmap2DROS &	costmap,
		const std::string &	global_frame,
		std::vector< geometry_msgs::PoseStamped > &	transformed_plan
	)

private

Definition at line 362 of file pose_follower.cpp.

Member Data Documentation

bool pose_follower::PoseFollower::allow_backwards_

private

Definition at line 100 of file pose_follower.h.

nav_msgs::Odometry pose_follower::PoseFollower::base_odom_

private

Definition at line 85 of file pose_follower.h.

base_local_planner::TrajectoryPlannerROS pose_follower::PoseFollower::collision_planner_

private

Definition at line 89 of file pose_follower.h.

costmap_2d::Costmap2DROS* pose_follower::PoseFollower::costmap_ros_

private

Definition at line 81 of file pose_follower.h.

unsigned int pose_follower::PoseFollower::current_waypoint_

private

Definition at line 87 of file pose_follower.h.

dynamic_reconfigure::Server<pose_follower::PoseFollowerConfig>* pose_follower::PoseFollower::dsrv_

private

Definition at line 90 of file pose_follower.h.

std::vector<geometry_msgs::PoseStamped> pose_follower::PoseFollower::global_plan_

private

Definition at line 88 of file pose_follower.h.

ros::Publisher pose_follower::PoseFollower::global_plan_pub_

private

Definition at line 82 of file pose_follower.h.

ros::Time pose_follower::PoseFollower::goal_reached_time_

private

Definition at line 86 of file pose_follower.h.

bool pose_follower::PoseFollower::holonomic_

private

Definition at line 103 of file pose_follower.h.

double pose_follower::PoseFollower::in_place_trans_vel_

private

Definition at line 95 of file pose_follower.h.

double pose_follower::PoseFollower::K_rot_

private

Definition at line 97 of file pose_follower.h.

double pose_follower::PoseFollower::K_trans_

private

Definition at line 97 of file pose_follower.h.

double pose_follower::PoseFollower::max_heading_diff_before_moving_

private

Definition at line 102 of file pose_follower.h.

double pose_follower::PoseFollower::max_vel_lin_

private

Definition at line 93 of file pose_follower.h.

double pose_follower::PoseFollower::max_vel_th_

private

Definition at line 93 of file pose_follower.h.

double pose_follower::PoseFollower::min_in_place_vel_th_

private

Definition at line 95 of file pose_follower.h.

double pose_follower::PoseFollower::min_vel_lin_

private

Definition at line 94 of file pose_follower.h.

double pose_follower::PoseFollower::min_vel_th_

private

Definition at line 94 of file pose_follower.h.

boost::mutex pose_follower::PoseFollower::odom_lock_

private

Definition at line 83 of file pose_follower.h.

ros::Subscriber pose_follower::PoseFollower::odom_sub_

private

Definition at line 84 of file pose_follower.h.

double pose_follower::PoseFollower::rot_stopped_velocity_

private

Definition at line 96 of file pose_follower.h.

int pose_follower::PoseFollower::samples_

private

Definition at line 99 of file pose_follower.h.

tf::TransformListener* pose_follower::PoseFollower::tf_

private

Definition at line 80 of file pose_follower.h.

double pose_follower::PoseFollower::tolerance_rot_

private

Definition at line 97 of file pose_follower.h.

double pose_follower::PoseFollower::tolerance_timeout_

private

Definition at line 98 of file pose_follower.h.

double pose_follower::PoseFollower::tolerance_trans_

private

Definition at line 97 of file pose_follower.h.

double pose_follower::PoseFollower::trans_stopped_velocity_

private

Definition at line 96 of file pose_follower.h.

bool pose_follower::PoseFollower::turn_in_place_first_

private

Definition at line 101 of file pose_follower.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation