Classes
struct	TrackingResult

Public Member Functions
void	spin ()

	TrackerNode ()

	~TrackerNode ()

Private Member Functions
void	cbOdometry (const nav_msgs::Odometry::ConstPtr &)

void	cbOdomTimeout (const ros::TimerEvent &)

void	cbParameter (const TrajectoryTrackerConfig &config, const uint32_t)

template<typename MSG_TYPE >
void	cbPath (const typename MSG_TYPE::ConstPtr &)

void	cbSpeed (const std_msgs::Float32::ConstPtr &)

void	cbTimer (const ros::TimerEvent &)

void	control (const tf2::Stamped< tf2::Transform > &, const Eigen::Vector3d &, const double)

TrackingResult	getTrackingResult (const tf2::Stamped< tf2::Transform > &, const Eigen::Vector3d &) const

Private Attributes
double	acc_ [2]

double	acc_toc_ [2]

bool	allow_backward_

bool	check_old_path_

double	curv_forward_

double	d_lim_

double	d_stop_

double	epsilon_

std::string	frame_odom_

std::string	frame_robot_

double	gain_at_vel_

double	goal_tolerance_ang_

double	goal_tolerance_dist_

double	hz_

bool	is_path_updated_

double	k_ [3]

double	k_ang_rotation_

double	k_avel_rotation_

bool	limit_vel_by_avel_

double	look_forward_

double	max_dt_

double	min_track_path_

ros::NodeHandle	nh_

double	no_pos_cntl_dist_

double	odom_timeout_sec_

ros::Timer	odom_timeout_timer_

dynamic_reconfigure::Server< TrajectoryTrackerConfig >	parameter_server_

boost::recursive_mutex	parameter_server_mutex_

trajectory_tracker::Path2D	path_

std_msgs::Header	path_header_

int	path_step_

int	path_step_done_

ros::NodeHandle	pnh_

bool	predict_odom_

ros::Time	prev_odom_stamp_

ros::Publisher	pub_status_

ros::Publisher	pub_tracking_

ros::Publisher	pub_vel_

double	rotate_ang_

double	stop_tolerance_ang_

double	stop_tolerance_dist_

ros::Subscriber	sub_odom_

ros::Subscriber	sub_path_

ros::Subscriber	sub_path_velocity_

ros::Subscriber	sub_vel_

tf2_ros::Buffer	tfbuf_

tf2_ros::TransformListener	tfl_

double	time_optimal_control_future_gain_

std::string	topic_cmd_vel_

std::string	topic_path_

bool	use_odom_

bool	use_time_optimal_control_

trajectory_tracker::VelAccLimitter	v_lim_

double	vel_ [2]

trajectory_tracker::VelAccLimitter	w_lim_

Detailed Description

Definition at line 77 of file trajectory_tracker.cpp.

Constructor & Destructor Documentation

trajectory_tracker::TrackerNode::TrackerNode ( )

Definition at line 191 of file trajectory_tracker.cpp.

trajectory_tracker::TrackerNode::~TrackerNode ( )

Definition at line 268 of file trajectory_tracker.cpp.

Member Function Documentation

void trajectory_tracker::TrackerNode::cbOdometry ( const nav_msgs::Odometry::ConstPtr & odom )

private

Definition at line 339 of file trajectory_tracker.cpp.

void trajectory_tracker::TrackerNode::cbOdomTimeout ( const ros::TimerEvent & event )

private

Definition at line 420 of file trajectory_tracker.cpp.

void trajectory_tracker::TrackerNode::cbParameter	(	const TrajectoryTrackerConfig &	config,
		const uint32_t
	)

private

Definition at line 233 of file trajectory_tracker.cpp.

template<typename MSG_TYPE >

void trajectory_tracker::TrackerNode::cbPath ( const typename MSG_TYPE::ConstPtr & msg )

private

Definition at line 294 of file trajectory_tracker.cpp.

void trajectory_tracker::TrackerNode::cbSpeed ( const std_msgs::Float32::ConstPtr & msg )

private

Definition at line 276 of file trajectory_tracker.cpp.

void trajectory_tracker::TrackerNode::cbTimer ( const ros::TimerEvent & event )

private

Definition at line 397 of file trajectory_tracker.cpp.

void trajectory_tracker::TrackerNode::control	(	const tf2::Stamped< tf2::Transform > &	robot_to_odom,
		const Eigen::Vector3d &	prediction_offset,
		const double	dt
	)

private

Definition at line 449 of file trajectory_tracker.cpp.

TrackerNode::TrackingResult trajectory_tracker::TrackerNode::getTrackingResult	(	const tf2::Stamped< tf2::Transform > &	robot_to_odom,
		const Eigen::Vector3d &	prediction_offset
	)		const

private

Definition at line 550 of file trajectory_tracker.cpp.

void trajectory_tracker::TrackerNode::spin ( )

Definition at line 439 of file trajectory_tracker.cpp.

Member Data Documentation

double trajectory_tracker::TrackerNode::acc_[2]

private

Definition at line 97 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::acc_toc_[2]

private

Definition at line 98 of file trajectory_tracker.cpp.

bool trajectory_tracker::TrackerNode::allow_backward_

private

Definition at line 110 of file trajectory_tracker.cpp.

bool trajectory_tracker::TrackerNode::check_old_path_

private

Definition at line 112 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::curv_forward_

private

Definition at line 91 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::d_lim_

private

Definition at line 94 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::d_stop_

private

Definition at line 95 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::epsilon_

private

Definition at line 113 of file trajectory_tracker.cpp.

std::string trajectory_tracker::TrackerNode::frame_odom_

private

Definition at line 88 of file trajectory_tracker.cpp.

std::string trajectory_tracker::TrackerNode::frame_robot_

private

Definition at line 87 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::gain_at_vel_

private

Definition at line 93 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::goal_tolerance_ang_

private

Definition at line 103 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::goal_tolerance_dist_

private

Definition at line 102 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::hz_

private

Definition at line 89 of file trajectory_tracker.cpp.

bool trajectory_tracker::TrackerNode::is_path_updated_

private

Definition at line 136 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::k_[3]

private

Definition at line 92 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::k_ang_rotation_

private

Definition at line 117 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::k_avel_rotation_

private

Definition at line 118 of file trajectory_tracker.cpp.

bool trajectory_tracker::TrackerNode::limit_vel_by_avel_

private

Definition at line 111 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::look_forward_

private

Definition at line 90 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::max_dt_

private

Definition at line 114 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::min_track_path_

private

Definition at line 107 of file trajectory_tracker.cpp.

ros::NodeHandle trajectory_tracker::TrackerNode::nh_

private

Definition at line 127 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::no_pos_cntl_dist_

private

Definition at line 106 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::odom_timeout_sec_

private

Definition at line 132 of file trajectory_tracker.cpp.

ros::Timer trajectory_tracker::TrackerNode::odom_timeout_timer_

private

Definition at line 131 of file trajectory_tracker.cpp.

dynamic_reconfigure::Server<TrajectoryTrackerConfig> trajectory_tracker::TrackerNode::parameter_server_

private

Definition at line 139 of file trajectory_tracker.cpp.

boost::recursive_mutex trajectory_tracker::TrackerNode::parameter_server_mutex_

mutableprivate

Definition at line 138 of file trajectory_tracker.cpp.

trajectory_tracker::Path2D trajectory_tracker::TrackerNode::path_

private

Definition at line 134 of file trajectory_tracker.cpp.

std_msgs::Header trajectory_tracker::TrackerNode::path_header_

private

Definition at line 135 of file trajectory_tracker.cpp.

int trajectory_tracker::TrackerNode::path_step_

private

Definition at line 108 of file trajectory_tracker.cpp.

int trajectory_tracker::TrackerNode::path_step_done_

private

Definition at line 109 of file trajectory_tracker.cpp.

ros::NodeHandle trajectory_tracker::TrackerNode::pnh_

private

Definition at line 128 of file trajectory_tracker.cpp.

bool trajectory_tracker::TrackerNode::predict_odom_

private

Definition at line 142 of file trajectory_tracker.cpp.

ros::Time trajectory_tracker::TrackerNode::prev_odom_stamp_

private

Definition at line 143 of file trajectory_tracker.cpp.

ros::Publisher trajectory_tracker::TrackerNode::pub_status_

private

Definition at line 125 of file trajectory_tracker.cpp.

ros::Publisher trajectory_tracker::TrackerNode::pub_tracking_

private

Definition at line 126 of file trajectory_tracker.cpp.

ros::Publisher trajectory_tracker::TrackerNode::pub_vel_

private

Definition at line 124 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::rotate_ang_

private

Definition at line 101 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::stop_tolerance_ang_

private

Definition at line 105 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::stop_tolerance_dist_

private

Definition at line 104 of file trajectory_tracker.cpp.

ros::Subscriber trajectory_tracker::TrackerNode::sub_odom_

private

Definition at line 123 of file trajectory_tracker.cpp.

ros::Subscriber trajectory_tracker::TrackerNode::sub_path_

private

Definition at line 120 of file trajectory_tracker.cpp.

ros::Subscriber trajectory_tracker::TrackerNode::sub_path_velocity_

private

Definition at line 121 of file trajectory_tracker.cpp.

ros::Subscriber trajectory_tracker::TrackerNode::sub_vel_

private

Definition at line 122 of file trajectory_tracker.cpp.

tf2_ros::Buffer trajectory_tracker::TrackerNode::tfbuf_

private

Definition at line 129 of file trajectory_tracker.cpp.

tf2_ros::TransformListener trajectory_tracker::TrackerNode::tfl_

private

Definition at line 130 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::time_optimal_control_future_gain_

private

Definition at line 116 of file trajectory_tracker.cpp.

std::string trajectory_tracker::TrackerNode::topic_cmd_vel_

private

Definition at line 86 of file trajectory_tracker.cpp.

std::string trajectory_tracker::TrackerNode::topic_path_

private

Definition at line 85 of file trajectory_tracker.cpp.

bool trajectory_tracker::TrackerNode::use_odom_

private

Definition at line 141 of file trajectory_tracker.cpp.

bool trajectory_tracker::TrackerNode::use_time_optimal_control_

private

Definition at line 115 of file trajectory_tracker.cpp.

trajectory_tracker::VelAccLimitter trajectory_tracker::TrackerNode::v_lim_

private

Definition at line 99 of file trajectory_tracker.cpp.

double trajectory_tracker::TrackerNode::vel_[2]

private

Definition at line 96 of file trajectory_tracker.cpp.

trajectory_tracker::VelAccLimitter trajectory_tracker::TrackerNode::w_lim_

private

Definition at line 100 of file trajectory_tracker.cpp.

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

trajectory_tracker.cpp

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation