A class to provide position related functionalities. More...

#include <position.h>

Public Member Functions
double	bearing (geometry_msgs::Pose p) const
	Compute the bearing from the current pose of the CPS to a given pose. More...

geometry_msgs::Pose	compute_goal (double distance, double direction) const
	Compute the goal coordinates relative to the current position. More...

geometry_msgs::Pose	compute_goal (geometry_msgs::Pose start, double distance, double direction) const
	Compute the goal coordinates relative to a given start position. More...

double	dist (geometry_msgs::Pose p) const
	Compute the straight-line distance from the current position to the given position. More...

double	dist (geometry_msgs::Pose p1, geometry_msgs::Pose p2) const
	Compute the straight-line distance between two positions. More...

geometry_msgs::Pose	get_pose () const
	Get the current pose of the CPS. More...

double	get_tolerance () const
	Get the position tolerance. More...

double	get_yaw () const
	Get the current yaw orientation of the CPS. More...

bool	move (geometry_msgs::Pose pose)
	Move the CPS to the given pose. More...

bool	occupied (geometry_msgs::Pose pose)
	Check whether there is an obstacle in the direction of the given pose. More...

bool	out_of_bounds (geometry_msgs::Pose pose)
	Check whether a given pose is out of the mission area boundaries. More...

	position (double altitude)
	Constructor that initializes the private member variables. More...

bool	reached ()
	Check whether the CPS has reached the current goal. More...

void	stop ()
	Stop moving by publishing the current position as goal. More...

	~position ()
	Destructor that deletes the private member objects. More...

Private Member Functions
double	get_yaw (geometry_msgs::Pose pose) const
	Get the yaw orientation from a pose. More...

void	pose_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)
	Callback function for position updates. More...

Private Attributes
double	altitude
	The altitude at which the CPS operates. More...

geometry_msgs::PoseStamped	goal
	Current goal of the CPS. More...

double	goal_tolerance
	The distance that the CPS can be away from a goal while still being considered to have reached that goal. More...

Duration	move_timeout
	The time in seconds that reaching a waypoint is allowed to take. More...

NodeHandle	nh
	A node handle for the main ROS node. More...

ServiceClient	occupied_sector_client
	Service client for determining the sector occupied by obstacles. More...

ServiceClient	out_of_bounds_client
	Service client for determining whether the goal is out of the area bounds. More...

geometry_msgs::Pose	pose
	Current position of the CPS. More...

Publisher	pose_pub
	Publisher for sending the goal position of the CPS to the position controller in the abstraction library. More...

Subscriber	pose_sub
	Subscriber for the position of the CPS. More...

bool	pose_valid
	Whether a valid position has been received. More...

Rate *	rate
	The loop rate object for running the behavior control loops at a specific frequency. More...

bool	visualize
	Whether to publish the goal waypoint on a topic for visualization. More...

Publisher	visualize_pub
	Publisher to visualize the current goal. More...

Detailed Description

A class to provide position related functionalities.

Definition at line 16 of file position.h.

Constructor & Destructor Documentation

position::position ( double altitude )

Constructor that initializes the private member variables.

Parameters

altitude The altitude at which the CPS operates.

Definition at line 3 of file position.cpp.

position::~position ( )

Destructor that deletes the private member objects.

Definition at line 41 of file position.cpp.

Member Function Documentation

double position::bearing ( geometry_msgs::Pose p ) const

Compute the bearing from the current pose of the CPS to a given pose.

Parameters

p	The pose to compute bearing of.

Returns: The bearing of the given pose relative to the current yaw of the CPS, counterclockwise.

Definition at line 46 of file position.cpp.

geometry_msgs::Pose position::compute_goal	(	double	distance,
		double	direction
	)		const

Compute the goal coordinates relative to the current position.

Parameters

distance	The distance of the goal from the current position.
direction	The direction of the goal relative to the current position. It is in radian, counterclockwise starting from east / x-axis.

Returns: The goal pose.

Definition at line 54 of file position.cpp.

geometry_msgs::Pose position::compute_goal	(	geometry_msgs::Pose	start,
		double	distance,
		double	direction
	)		const

Compute the goal coordinates relative to a given start position.

Parameters

start	The starting position.
distance	The distance of the goal from start.
direction	The direction of the goal relative to start. It is in radian, counterclockwise starting from east / x-axis.

Returns: The goal pose.

Definition at line 59 of file position.cpp.

double position::dist ( geometry_msgs::Pose p ) const

Compute the straight-line distance from the current position to the given position.

Parameters

p	The pose to compute distance to.

Returns: The distance in meters.

Definition at line 76 of file position.cpp.

double position::dist	(	geometry_msgs::Pose	p1,
		geometry_msgs::Pose	p2
	)		const

Compute the straight-line distance between two positions.

Parameters

p1	First pose.
p2	Second pose.

Returns: The distance in meters.

Definition at line 81 of file position.cpp.

geometry_msgs::Pose position::get_pose ( ) const

Get the current pose of the CPS.

Returns: The current pose of the CPS in local coordinates.

Definition at line 86 of file position.cpp.

double position::get_tolerance ( ) const

Get the position tolerance.

Returns: The distance in meter that the CPS can be away from a goal while still being considered to have reached that goal.

Definition at line 91 of file position.cpp.

double position::get_yaw ( ) const

Get the current yaw orientation of the CPS.

Returns: The current yaw angle of the CPS counterclockwise starting from x-axis/east.

Definition at line 96 of file position.cpp.

double position::get_yaw ( geometry_msgs::Pose pose ) const

private

Get the yaw orientation from a pose.

Parameters

pose	The pose that contains the orientation.

Returns: The yaw angle of the given pose counterclockwise starting from x-axis/east.

Definition at line 217 of file position.cpp.

bool position::move ( geometry_msgs::Pose pose )

Move the CPS to the given pose.

Parameters

pose	The position to move to.

Returns: Whether the CPS reached the goal position.

Definition at line 101 of file position.cpp.

bool position::occupied ( geometry_msgs::Pose pose )

Check whether there is an obstacle in the direction of the given pose.

Parameters

pose	The pose to check.

Returns: True, if there is an obstacle in the direction of the pose, false otherwise.

Definition at line 141 of file position.cpp.

bool position::out_of_bounds ( geometry_msgs::Pose pose )

Check whether a given pose is out of the mission area boundaries.

Parameters

pose	The pose to check.

Returns: True, if the given pose is outside the mission area or it could not be checked, false otherwise.

Definition at line 164 of file position.cpp.

void position::pose_callback ( const geometry_msgs::PoseStamped::ConstPtr & msg )

private

Callback function for position updates.

Parameters

msg	Position received from the CPS.

Definition at line 224 of file position.cpp.

bool position::reached ( )

Check whether the CPS has reached the current goal.

Returns: True if the CPS is close to the current goal, false otherwise.

Definition at line 177 of file position.cpp.

void position::stop ( )

Stop moving by publishing the current position as goal.

Definition at line 202 of file position.cpp.

Member Data Documentation

double position::altitude

private

The altitude at which the CPS operates.

Definition at line 201 of file position.h.

geometry_msgs::PoseStamped position::goal

private

Current goal of the CPS.

Definition at line 176 of file position.h.

double position::goal_tolerance

private

The distance that the CPS can be away from a goal while still being considered to have reached that goal.

Definition at line 186 of file position.h.

Duration position::move_timeout

private

The time in seconds that reaching a waypoint is allowed to take.

Definition at line 191 of file position.h.

NodeHandle position::nh

private

A node handle for the main ROS node.

Definition at line 161 of file position.h.

ServiceClient position::occupied_sector_client

private

Service client for determining the sector occupied by obstacles.

Definition at line 146 of file position.h.

ServiceClient position::out_of_bounds_client

private

Service client for determining whether the goal is out of the area bounds.

Definition at line 141 of file position.h.

geometry_msgs::Pose position::pose

private

Current position of the CPS.

Definition at line 171 of file position.h.

Publisher position::pose_pub

private

Publisher for sending the goal position of the CPS to the position controller in the abstraction library.

Definition at line 151 of file position.h.

Subscriber position::pose_sub

private

Subscriber for the position of the CPS.

Definition at line 136 of file position.h.

bool position::pose_valid

private

Whether a valid position has been received.

Definition at line 181 of file position.h.

Rate* position::rate

private

The loop rate object for running the behavior control loops at a specific frequency.

Definition at line 166 of file position.h.

bool position::visualize

private

Whether to publish the goal waypoint on a topic for visualization.

Definition at line 196 of file position.h.

Publisher position::visualize_pub

private

Publisher to visualize the current goal.

Definition at line 156 of file position.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation