controller.cpp
/tmp/ws/src/tuw_multi_robot/tuw_multi_robot_ctrl/src/
controller_8cpp
simple_velocity_controller/controller.h
velocity_controller
controller.h
/tmp/ws/src/tuw_multi_robot/tuw_multi_robot_ctrl/include/simple_velocity_controller/
controller_8h
velocity_controller::Controller
velocity_controller::Point_t
velocity_controller
struct velocity_controller::Point_t
PathPoint
namespacevelocity__controller.html
a6af5b41487090a7b20a6d0eafa933ef1
enum velocity_controller::state_t
state
namespacevelocity__controller.html
ade90e3a948c1e5d30d4bd91cd5db5b96
state_t
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6
run
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6ae90fb5562c37f286e89fcd76a941597a
stop
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6a249627ae09df9dee0bb091f330ed98c3
step
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6aca421843b1d7067f7cc0d695df1e29be
wait_step
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6afa486b15c3db921e7eb324bd2cf079ce
run
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6ae90fb5562c37f286e89fcd76a941597a
stop
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6a249627ae09df9dee0bb091f330ed98c3
step
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6aca421843b1d7067f7cc0d695df1e29be
wait_step
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6afa486b15c3db921e7eb324bd2cf079ce
controller_node.cpp
/tmp/ws/src/tuw_multi_robot/tuw_multi_robot_ctrl/src/
controller__node_8cpp
simple_velocity_controller/controller_node.h
velocity_controller
#define
NSEC_2_SECS
controller__node_8cpp.html
abf0ca5c531c14258ad77449f1f128b1e
(A)
int
main
controller__node_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
controller_node.h
/tmp/ws/src/tuw_multi_robot/tuw_multi_robot_ctrl/include/simple_velocity_controller/
controller__node_8h
simple_velocity_controller/controller.h
velocity_controller::ControllerNode
velocity_controller
fake_pose_estimation_nodelet.cpp
/tmp/ws/src/tuw_multi_robot/tuw_multi_robot_ctrl/src/
fake__pose__estimation__nodelet_8cpp
fake_pose_estimation/fake_pose_estimation_nodelet.h
fake_pose_estimation_nodelet.h
/tmp/ws/src/tuw_multi_robot/tuw_multi_robot_ctrl/include/fake_pose_estimation/
fake__pose__estimation__nodelet_8h
FakePoseEstimationNodelet
local_multi_robot_controller_node.cpp
/tmp/ws/src/tuw_multi_robot/tuw_multi_robot_ctrl/src/
local__multi__robot__controller__node_8cpp
simple_velocity_controller/local_multi_robot_controller_node.h
velocity_controller
#define
NSEC_2_SECS
local__multi__robot__controller__node_8cpp.html
abf0ca5c531c14258ad77449f1f128b1e
(A)
int
main
local__multi__robot__controller__node_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
local_multi_robot_controller_node.h
/tmp/ws/src/tuw_multi_robot/tuw_multi_robot_ctrl/include/simple_velocity_controller/
local__multi__robot__controller__node_8h
simple_velocity_controller/segment_controller.h
velocity_controller::LocalMultiRobotControllerNode
velocity_controller
segment_controller.cpp
/tmp/ws/src/tuw_multi_robot/tuw_multi_robot_ctrl/src/
segment__controller_8cpp
simple_velocity_controller/segment_controller.h
velocity_controller
segment_controller.h
/tmp/ws/src/tuw_multi_robot/tuw_multi_robot_ctrl/include/simple_velocity_controller/
segment__controller_8h
velocity_controller::PathPoint_t
velocity_controller::PathPrecondition_t
velocity_controller::SegmentController
velocity_controller
struct velocity_controller::PathPrecondition_t
PathPrecondition
namespacevelocity__controller.html
a3232939e2127280fd6eae2fb55684a65
state_t
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6
run
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6ae90fb5562c37f286e89fcd76a941597a
stop
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6a249627ae09df9dee0bb091f330ed98c3
step
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6aca421843b1d7067f7cc0d695df1e29be
wait_step
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6afa486b15c3db921e7eb324bd2cf079ce
run
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6ae90fb5562c37f286e89fcd76a941597a
stop
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6a249627ae09df9dee0bb091f330ed98c3
step
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6aca421843b1d7067f7cc0d695df1e29be
wait_step
namespacevelocity__controller.html
aa3039504d8243e9cac3efcea0c8c14a6afa486b15c3db921e7eb324bd2cf079ce
velocity_controller::Controller
classvelocity__controller_1_1Controller.html
Controller
classvelocity__controller_1_1Controller.html
a3c9c69c220ab2c3518f9a63f84d0c7cd
()
void
getSpeed
classvelocity__controller_1_1Controller.html
abed3ec9b5bc805aac4872bddcd4b822e
(float *_v, float *_w)
void
setGoalRadius
classvelocity__controller_1_1Controller.html
a4985fa83e49e9255170a428adbf17679
(float _r)
void
setPath
classvelocity__controller_1_1Controller.html
a5951f2ef8040901c22490c413468b4bb
(std::shared_ptr< std::vector< PathPoint >> _path)
void
setPID
classvelocity__controller_1_1Controller.html
a8702bc8836ebb95249c19c84d7897477
(float _Kp, float _Ki, float _Kd)
void
setSpeedParams
classvelocity__controller_1_1Controller.html
aa84119461a84a3ade129f9ac6796dee4
(float _max_v, float _max_w)
void
setState
classvelocity__controller_1_1Controller.html
a791e75754459dbb3de422f5a33b7d827
(state s)
void
update
classvelocity__controller_1_1Controller.html
afb18e998e4fbcceeece9dfc23444679c
(PathPoint _odom, float _delta_t)
PathPoint
current_pose_
classvelocity__controller_1_1Controller.html
a6fe9ccee94f4ae1e1a2fd645e36a70a4
float
absolute
classvelocity__controller_1_1Controller.html
a8ac93566c92a38455cd98bbbdf36e92d
(float _val)
bool
checkGoal
classvelocity__controller_1_1Controller.html
a52a7f82a58bb3f53eda37ed46a6e65a5
(PathPoint _odom)
float
normalizeAngle
classvelocity__controller_1_1Controller.html
ab7c967503c420f48446fed27ede6e777
(float _angle)
state
actual_cmd_
classvelocity__controller_1_1Controller.html
ae062dddb0f38e22d420f7cc15e225215
float
e_dot_
classvelocity__controller_1_1Controller.html
aba377b08d18986e0c03d1f45edbef1d7
float
e_last_
classvelocity__controller_1_1Controller.html
a9908f47230ebcdffa2e17209a2ac1f4a
float
goal_radius_
classvelocity__controller_1_1Controller.html
aae52b1988f24e7fd5529f14476a17853
float
Kd_
classvelocity__controller_1_1Controller.html
aa5c94af4b071d4ff09114a1278de94ad
float
Ki_
classvelocity__controller_1_1Controller.html
a30b09f54fc4527c0eba6843ae918fc96
float
Kp_
classvelocity__controller_1_1Controller.html
ac16e892491ffad41f7aea560d7b26bc6
float
max_v_
classvelocity__controller_1_1Controller.html
a3dc216b1d73669155d741544b1ea53e7
float
max_w_
classvelocity__controller_1_1Controller.html
a472d94e04a6ded8557890f7129fafaa6
std::shared_ptr< std::vector< PathPoint > >
path_
classvelocity__controller_1_1Controller.html
a1ac0b6faf3c6dbc12656bd62e00ff6a6
std::vector< PathPoint >::iterator
path_iterator_
classvelocity__controller_1_1Controller.html
afbc1ebe0f8b8773261409969265a4b6e
bool
plan_active
classvelocity__controller_1_1Controller.html
a112b41465eecf9a7065226a628429283
float
v_
classvelocity__controller_1_1Controller.html
ad77083dd13cff85c084d510f464104e7
float
w_
classvelocity__controller_1_1Controller.html
af0fa3302191941e66335e5b0da68e469
velocity_controller::ControllerNode
classvelocity__controller_1_1ControllerNode.html
velocity_controller::Controller
ControllerNode
classvelocity__controller_1_1ControllerNode.html
a6cc330b498e0e9aad1ad72bc2de95d48
(ros::NodeHandle &n)
ros::NodeHandle
n_
classvelocity__controller_1_1ControllerNode.html
a23ea13dfdc6736f77d0179434bd6a8a5
ros::NodeHandle
n_param_
classvelocity__controller_1_1ControllerNode.html
ab5e1ced29c0980e3696085d6d6c99a6e
std::unique_ptr< ros::Rate >
rate_
classvelocity__controller_1_1ControllerNode.html
aba79aa6f95a03729f2de28fd27305ebe
void
subCtrlCb
classvelocity__controller_1_1ControllerNode.html
a61f26e0d8724565c0af09d7195f44c4c
(const std_msgs::String _cmd)
void
subPathCb
classvelocity__controller_1_1ControllerNode.html
a91e1daef56ba298845380b3036e47637
(const nav_msgs::Path::ConstPtr &_path)
void
subPoseCb
classvelocity__controller_1_1ControllerNode.html
aa81d9d629cdc24ccc943f9417669e69a
(const geometry_msgs::PoseWithCovarianceStampedConstPtr &_pose)
float
goal_r_
classvelocity__controller_1_1ControllerNode.html
aee9e5759482ee14d21081bb0e08f65af
float
Kd_val_
classvelocity__controller_1_1ControllerNode.html
af8ce3ba34e8024eaf681af74c6214a42
float
Ki_val_
classvelocity__controller_1_1ControllerNode.html
a984049cf3a92c13ab361a61f1d131e3b
float
Kp_val_
classvelocity__controller_1_1ControllerNode.html
ac53d5eb96226eb75a8014ae38d12f7c1
ros::Time
last_update_
classvelocity__controller_1_1ControllerNode.html
a61c89702a4813b212902743158274162
float
max_vel_v_
classvelocity__controller_1_1ControllerNode.html
aefef19e96be2a28968b3814ff882f50a
float
max_vel_w_
classvelocity__controller_1_1ControllerNode.html
a760e4cdd64cf53d111c44d2713506705
ros::Publisher
pubCmdVel_
classvelocity__controller_1_1ControllerNode.html
a8b1ddb7a396c663ae130963decdecd2d
ros::Subscriber
subCtrl_
classvelocity__controller_1_1ControllerNode.html
aa1db343e1677b46a6bbf81f1af62717f
ros::Subscriber
subPath_
classvelocity__controller_1_1ControllerNode.html
aea17492382d03bbd50f8b464f961de33
ros::Subscriber
subPose_
classvelocity__controller_1_1ControllerNode.html
a99804b124d196dcaa8e2fe770baab528
std::string
topic_cmdVel_
classvelocity__controller_1_1ControllerNode.html
af4bbc3320b5b11f93c974ce32cb0ace6
std::string
topic_ctrl_
classvelocity__controller_1_1ControllerNode.html
ab5a1b4270a0a065d8efbc7572fb90f30
std::string
topic_path_
classvelocity__controller_1_1ControllerNode.html
a98302a8364272e631325116ddb7c33d1
std::string
topic_pose_
classvelocity__controller_1_1ControllerNode.html
aeb3a3b80a6d097fd4031975be99e869f
FakePoseEstimationNodelet
classFakePoseEstimationNodelet.html
nodelet::Nodelet
virtual void
onInit
classFakePoseEstimationNodelet.html
ac295c314ded46cbee3d96d6498546dd1
()
void
odomCallback
classFakePoseEstimationNodelet.html
a085b3a29f3f9a86f80b03b8ee67e940a
(const nav_msgs::OdometryConstPtr &odom)
ros::NodeHandle
n_param_
classFakePoseEstimationNodelet.html
abb3828610983049b0c082c4e38a32fe3
ros::NodeHandle
nh_
classFakePoseEstimationNodelet.html
adfa17ed325b1a553352df49f861989b8
ros::Subscriber
odom_sub_
classFakePoseEstimationNodelet.html
a1da97058e02090c64be82426a7f6940f
ros::Publisher
pose_pub_
classFakePoseEstimationNodelet.html
aecb2521b527899be666aaaa1dec1db6b
velocity_controller::LocalMultiRobotControllerNode
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
LocalMultiRobotControllerNode
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a80721af95458dd4946cd21b722ef8a1b
(ros::NodeHandle &n)
void
publishRobotInfo
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a6faf505cffae8fe2250d7f255cc769b1
()
ros::NodeHandle
n_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a6db5d5bccf8022be6cb79cdeef5f9fab
ros::NodeHandle
n_param_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a41a669803b77a37a6b0ef06e81311a53
std::unique_ptr< ros::Rate >
rate_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
ac0b5cba53fcd248954d63ea099edae26
int
findRobotId
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a8b65b4f798a3a273ca22eb21f769eea1
(std::string robot_name)
void
subCtrlCb
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a0519d43630b97f9ee5467f3e865e32f6
(const ros::MessageEvent< std_msgs::String const > &_event, int _topic)
void
subOdomCb
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a561c7a59d53a07683c29e195f4501d45
(const ros::MessageEvent< nav_msgs::Odometry const > &_event, int _topic)
void
subRouteCb
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a16a4d9d4832780f9b2535fbdef676ac3
(const ros::MessageEvent< tuw_multi_robot_msgs::Route const > &_event, int _topic)
std::vector< bool >
active_robots
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
ac5f0073fc63345f7f9e4e58752d370d4
std::vector< SegmentController >
controller
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a86b25b490e3965ade36bb2e13eb49559
bool
first_path_set_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a0d777b8915569f383cc60bad3ed0632d
std::string
frame_map_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a820edc8933eba34db1274160cc4f8094
ros::Time
global_tic
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
ae1c1700d1d423331e20ef8c23aa4a291
float
goal_r_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a9274e3971d5a68645219a0f340dd6008
float
Kd_val_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a8e358ab334290f95acae06bdc20791fb
float
Ki_val_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a2ecc80e9cabb815a5883dbee17d1d31a
float
Kp_val_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
acc8994e11f41baddd790b80c9bcbf265
ros::Time
last_update_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
ac7ac80e4e6368df0a177db7d123656de
float
max_vel_v_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a8584712afb69a08d3f483c25541cf534
float
max_vel_w_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a3a93aa68304f8dfa26e82a45e2cd88be
int
nr_of_finished_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
ae2e60b2967e5eff2c59344402ed35b55
int
nr_of_robots_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
ac682de2320c7f039ffebfb7fc1ec86b6
std::vector< ros::Publisher >
pubCmdVel_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
ae52ea1e1b02d2b58643022401d86f131
ros::Publisher
pubRobotInfo_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a5e5155d1fd7b1f966e11fcc78e448f3a
std::vector< std::string >
robot_names_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a48d54190c82716066c09d09877e12942
std::vector< geometry_msgs::PoseWithCovariance >
robot_pose_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
ad85a12b9cc63704dbe3979a2b9042707
std::string
robot_prefix_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a100276fece366d5d52b49c3047a05bef
std::vector< float >
robot_radius_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a051e6281a4a163bab403c679e4ca81db
std::vector< ros::Subscriber >
subCtrl_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a76a0fe98679fbbe98a6fb51b847c88af
std::vector< ros::Subscriber >
subOdom_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a1f13192d8c5607dc8d6cb56737a03c6b
std::vector< ros::Subscriber >
subRoute_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a8ef26c615fc1a594b029a97aca24383a
std::string
topic_cmdVel_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a9b2f1bb69ef16ca3a876370895d0e935
std::string
topic_ctrl_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
aba5a98d71ffbca0fa1c2040f80520c94
std::string
topic_odom_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a6e089d3b6c5b61aa52a9764166869675
std::string
topic_robot_info_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a4fd0056c6302a23fd4bff1d64efede5a
std::string
topic_route_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a15344832e8bb88261f7b0d7093674abf
double
update_rate_
classvelocity__controller_1_1LocalMultiRobotControllerNode.html
a37db3be3bb9930bf83a09d11d0ef5f8f
velocity_controller::PathPoint_t
structvelocity__controller_1_1PathPoint__t.html
std::vector< PathPrecondition >
precondition
structvelocity__controller_1_1PathPoint__t.html
aa5f2e7cf9f9df38a50a9570fadf033b0
float
theta
structvelocity__controller_1_1PathPoint__t.html
a1c70113d1b3304300aa814ad6e270d9d
float
x
structvelocity__controller_1_1PathPoint__t.html
a3ee001806cdfecb9307c5aef55d5504b
float
y
structvelocity__controller_1_1PathPoint__t.html
af72ce6db21b77e0121502a50a1172b45
velocity_controller::PathPrecondition_t
structvelocity__controller_1_1PathPrecondition__t.html
int
robot
structvelocity__controller_1_1PathPrecondition__t.html
aa77d002e1fd0d4ddc0a124f34b5f32de
int
stepCondition
structvelocity__controller_1_1PathPrecondition__t.html
a194b1e888860272d37c4e7c0722a57fb
velocity_controller::Point_t
structvelocity__controller_1_1Point__t.html
float
theta
structvelocity__controller_1_1Point__t.html
a6793cbf03262fc827cbdbafaf99566a5
float
x
structvelocity__controller_1_1Point__t.html
ae1938076611952eec6de10a4fd400eda
float
y
structvelocity__controller_1_1Point__t.html
ad846be4c58a4555ce1103c711668df8b
velocity_controller::SegmentController
classvelocity__controller_1_1SegmentController.html
int
getCount
classvelocity__controller_1_1SegmentController.html
a6d6f56f943affc2bad66cade3fd5b4b7
()
bool
getPlanActive
classvelocity__controller_1_1SegmentController.html
a129b169cb48ed62fabfaba75409adc06
()
void
getSpeed
classvelocity__controller_1_1SegmentController.html
a86dcaeb30da0797e05a4c090ef8aa38d
(float *_v, float *_w)
SegmentController
classvelocity__controller_1_1SegmentController.html
a12322afd5e3a63161b51d2b5d077544d
()
void
setGoalRadius
classvelocity__controller_1_1SegmentController.html
a219238a46a57cee22b928a4495e8acce
(float _r)
void
setPath
classvelocity__controller_1_1SegmentController.html
adfecb36bf0258b24bcbb8b609983472b
(std::shared_ptr< std::vector< PathPoint >> _path)
void
setPID
classvelocity__controller_1_1SegmentController.html
a29981028a43ea0e3b5b515d15c247376
(float _Kp, float _Ki, float _Kd)
void
setSpeedParams
classvelocity__controller_1_1SegmentController.html
a2817d057202aad3a40031924f2487943
(float _max_v, float _max_w)
void
setState
classvelocity__controller_1_1SegmentController.html
a957a882408d89573fae32b8fe1ce3c38
(state s)
void
update
classvelocity__controller_1_1SegmentController.html
a3ab46f06ab59f5c5b2ec1d75c225a9a4
(PathPoint _odom, float _delta_t)
void
updatePrecondition
classvelocity__controller_1_1SegmentController.html
a9140e412b9f944356e1e21d3e10f9d70
(PathPrecondition pc)
float
absolute
classvelocity__controller_1_1SegmentController.html
a78fb88ccaaa233721a4cf4b447b1e442
(float _val)
bool
checkGoal
classvelocity__controller_1_1SegmentController.html
a390cdd30a51a128eadc3f1f9e6bb4721
(PathPoint _odom)
bool
checkPrecondition
classvelocity__controller_1_1SegmentController.html
a04020994484dfd13b36287ee55539ae2
(PathPoint p)
float
normalizeAngle
classvelocity__controller_1_1SegmentController.html
a797fb310df38f01ad2ef577c12d284f8
(float _angle)
state
actual_cmd_
classvelocity__controller_1_1SegmentController.html
ad3770aefa5872dba7e3a16a04ee7988c
std::vector< int >
actualPreconditions
classvelocity__controller_1_1SegmentController.html
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float
e_dot_
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float
e_last_
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float
goal_radius_
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float
Kd_
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float
Ki_
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float
Kp_
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float
max_v_
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float
max_w_
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std::shared_ptr< std::vector< PathPoint > >
path_
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int
pathCounter_
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bool
plan_active
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float
v_
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float
w_
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velocity_controller
namespacevelocity__controller.html
velocity_controller::Controller
velocity_controller::ControllerNode
velocity_controller::LocalMultiRobotControllerNode
velocity_controller::PathPoint_t
velocity_controller::PathPrecondition_t
velocity_controller::Point_t
velocity_controller::SegmentController
struct velocity_controller::Point_t
PathPoint
namespacevelocity__controller.html
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struct velocity_controller::PathPrecondition_t
PathPrecondition
namespacevelocity__controller.html
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enum velocity_controller::state_t
state
namespacevelocity__controller.html
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state_t
namespacevelocity__controller.html
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run
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stop
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step
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wait_step
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run
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stop
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step
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wait_step
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state_t
namespacevelocity__controller.html
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run
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stop
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step
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wait_step
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run
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stop
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step
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wait_step
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