twist_recovery::TwistRecovery Class Reference

#include <twist_recovery.h>

Inheritance diagram for twist_recovery::TwistRecovery:

Public Member Functions
void	initialize (std::string n, tf::TransformListener *tf, costmap_2d::Costmap2DROS *global_costmap, costmap_2d::Costmap2DROS *local_costmap)
	Initialize the parameters of the behavior. More...
void	runBehavior ()
	Run the behavior. More...
	TwistRecovery ()
	Doesn't do anything: initialize is where the actual work happens. More...
	~TwistRecovery ()
Public Member Functions inherited from nav_core::RecoveryBehavior
virtual	~RecoveryBehavior ()

Private Member Functions
geometry_msgs::Pose2D	getCurrentLocalPose () const
double	nonincreasingCostInterval (const geometry_msgs::Pose2D &current, const geometry_msgs::Twist &twist) const
double	normalizedPoseCost (const geometry_msgs::Pose2D &pose) const
	Return the cost of a pose, modified so that -1 does not equal infinity; instead 1e9 does. More...
geometry_msgs::Twist	scaleGivenAccelerationLimits (const geometry_msgs::Twist &twist, const double time_remaining) const
geometry_msgs::Twist	transformTwist (const geometry_msgs::Pose2D &pose) const

Private Attributes
double	angular_acceleration_limit_
double	angular_speed_limit_
geometry_msgs::Twist	base_frame_twist_
double	controller_frequency_
double	duration_
costmap_2d::Costmap2DROS *	global_costmap_
bool	initialized_
double	linear_acceleration_limit_
double	linear_speed_limit_
costmap_2d::Costmap2DROS *	local_costmap_
std::string	name_
ros::NodeHandle	nh_
ros::Publisher	pub_
double	simulation_inc_
tf::TransformListener *	tf_
base_local_planner::CostmapModel *	world_model_

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

Detailed Description

Recovery behavior that takes a given twist and tries to execute it for up to d seconds, or until reaching an obstacle.

Definition at line 52 of file twist_recovery.h.

Constructor & Destructor Documentation

twist_recovery::TwistRecovery::TwistRecovery

(

)

Doesn't do anything: initialize is where the actual work happens.

Definition at line 54 of file twist_recovery.cpp.

twist_recovery::TwistRecovery::~TwistRecovery

(

)

Definition at line 58 of file twist_recovery.cpp.

Member Function Documentation

gm::Pose2D twist_recovery::TwistRecovery::getCurrentLocalPose ( ) const

private

Definition at line 173 of file twist_recovery.cpp.

void twist_recovery::TwistRecovery::initialize ( std::string  n, tf::TransformListener *  tf, costmap_2d::Costmap2DROS *  global_costmap, costmap_2d::Costmap2DROS *  local_costmap  )

virtual

Initialize the parameters of the behavior.

Implements nav_core::RecoveryBehavior.

Definition at line 63 of file twist_recovery.cpp.

double twist_recovery::TwistRecovery::nonincreasingCostInterval ( const geometry_msgs::Pose2D &  current, const geometry_msgs::Twist &  twist  ) const

private

Return the maximum d <= duration_ such that starting at the current pose, the cost is nonincreasing for d seconds if we follow twist It might also be good to have a threshold such that we're allowed to have lethal cost for at most the first k of those d seconds, but this is not done

Definition at line 131 of file twist_recovery.cpp.

double twist_recovery::TwistRecovery::normalizedPoseCost ( const geometry_msgs::Pose2D &  pose ) const

private

Return the cost of a pose, modified so that -1 does not equal infinity; instead 1e9 does.

Definition at line 120 of file twist_recovery.cpp.

void twist_recovery::TwistRecovery::runBehavior ( )

virtual

Run the behavior.

Implements nav_core::RecoveryBehavior.

Definition at line 184 of file twist_recovery.cpp.

gm::Twist twist_recovery::TwistRecovery::scaleGivenAccelerationLimits ( const geometry_msgs::Twist &  twist, const double  time_remaining  ) const

private

Definition at line 159 of file twist_recovery.cpp.

geometry_msgs::Twist twist_recovery::TwistRecovery::transformTwist ( const geometry_msgs::Pose2D &  pose ) const

private

Member Data Documentation

double twist_recovery::TwistRecovery::angular_acceleration_limit_

private

Definition at line 95 of file twist_recovery.h.

double twist_recovery::TwistRecovery::angular_speed_limit_

private

Definition at line 93 of file twist_recovery.h.

geometry_msgs::Twist twist_recovery::TwistRecovery::base_frame_twist_

private

Definition at line 89 of file twist_recovery.h.

double twist_recovery::TwistRecovery::controller_frequency_

private

Definition at line 96 of file twist_recovery.h.

double twist_recovery::TwistRecovery::duration_

private

Definition at line 91 of file twist_recovery.h.

costmap_2d::Costmap2DROS* twist_recovery::TwistRecovery::global_costmap_

private

Definition at line 78 of file twist_recovery.h.

bool twist_recovery::TwistRecovery::initialized_

private

Definition at line 83 of file twist_recovery.h.

double twist_recovery::TwistRecovery::linear_acceleration_limit_

private

Definition at line 94 of file twist_recovery.h.

double twist_recovery::TwistRecovery::linear_speed_limit_

private

Definition at line 92 of file twist_recovery.h.

costmap_2d::Costmap2DROS* twist_recovery::TwistRecovery::local_costmap_

private

Definition at line 79 of file twist_recovery.h.

std::string twist_recovery::TwistRecovery::name_

private

Definition at line 80 of file twist_recovery.h.

ros::NodeHandle twist_recovery::TwistRecovery::nh_

private

Definition at line 77 of file twist_recovery.h.

ros::Publisher twist_recovery::TwistRecovery::pub_

private

Definition at line 82 of file twist_recovery.h.

double twist_recovery::TwistRecovery::simulation_inc_

private

Definition at line 97 of file twist_recovery.h.

tf::TransformListener* twist_recovery::TwistRecovery::tf_

private

Definition at line 81 of file twist_recovery.h.

base_local_planner::CostmapModel* twist_recovery::TwistRecovery::world_model_

mutableprivate

Definition at line 87 of file twist_recovery.h.

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

• twist_recovery.h
• twist_recovery.cpp