Computes control velocities for a robot given a costmap, a plan, and the robot's position in the world. More...

#include <trajectory_planner.h>

Public Member Functions
bool	checkTrajectory (double x, double y, double theta, double vx, double vy, double vtheta, double vx_samp, double vy_samp, double vtheta_samp)
	Generate and score a single trajectory. More...

Trajectory	findBestPath (tf::Stamped< tf::Pose > global_pose, tf::Stamped< tf::Pose > global_vel, tf::Stamped< tf::Pose > &drive_velocities)
	Given the current position, orientation, and velocity of the robot, return a trajectory to follow. More...

bool	getCellCosts (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)
	Compute the components and total cost for a map grid cell. More...

std::vector< geometry_msgs::Point >	getFootprint () const

geometry_msgs::Polygon	getFootprintPolygon () const
	Return the footprint specification of the robot. More...

void	getLocalGoal (double &x, double &y)
	Accessor for the goal the robot is currently pursuing in world corrdinates. More...

void	reconfigure (BaseLocalPlannerConfig &cfg)
	Reconfigures the trajectory planner. More...

double	scoreTrajectory (double x, double y, double theta, double vx, double vy, double vtheta, double vx_samp, double vy_samp, double vtheta_samp)
	Generate and score a single trajectory. More...

void	setFootprint (std::vector< geometry_msgs::Point > footprint)
	Set the footprint specification of the robot. More...

	TrajectoryPlanner (WorldModel &world_model, const costmap_2d::Costmap2D &costmap, std::vector< geometry_msgs::Point > footprint_spec, double acc_lim_x=1.0, double acc_lim_y=1.0, double acc_lim_theta=1.0, double sim_time=1.0, double sim_granularity=0.025, int vx_samples=20, int vtheta_samples=20, double pdist_scale=0.6, double gdist_scale=0.8, double occdist_scale=0.2, double heading_lookahead=0.325, double oscillation_reset_dist=0.05, double escape_reset_dist=0.10, double escape_reset_theta=M_PI_2, bool holonomic_robot=true, double max_vel_x=0.5, double min_vel_x=0.1, double max_vel_th=1.0, double min_vel_th=-1.0, double min_in_place_vel_th=0.4, double backup_vel=-0.1, bool dwa=false, bool heading_scoring=false, double heading_scoring_timestep=0.1, bool meter_scoring=true, bool simple_attractor=false, std::vector< double > y_vels=std::vector< double >(0), double stop_time_buffer=0.2, double sim_period=0.1, double angular_sim_granularity=0.025)
	Constructs a trajectory controller. More...

void	updatePlan (const std::vector< geometry_msgs::PoseStamped > &new_plan, bool compute_dists=false)
	Update the plan that the controller is following. More...

	~TrajectoryPlanner ()
	Destructs a trajectory controller. More...

Private Member Functions
double	computeNewThetaPosition (double thetai, double vth, double dt)
	Compute orientation based on velocity. More...

double	computeNewVelocity (double vg, double vi, double a_max, double dt)
	Compute velocity based on acceleration. More...

double	computeNewXPosition (double xi, double vx, double vy, double theta, double dt)
	Compute x position based on velocity. More...

double	computeNewYPosition (double yi, double vx, double vy, double theta, double dt)
	Compute y position based on velocity. More...

Trajectory	createTrajectories (double x, double y, double theta, double vx, double vy, double vtheta, double acc_x, double acc_y, double acc_theta)
	Create the trajectories we wish to explore, score them, and return the best option. More...

double	footprintCost (double x_i, double y_i, double theta_i)
	Checks the legality of the robot footprint at a position and orientation using the world model. More...

void	generateTrajectory (double x, double y, double theta, double vx, double vy, double vtheta, double vx_samp, double vy_samp, double vtheta_samp, double acc_x, double acc_y, double acc_theta, double impossible_cost, Trajectory &traj)
	Generate and score a single trajectory. More...

void	getMaxSpeedToStopInTime (double time, double &vx, double &vy, double &vth)

double	headingDiff (int cell_x, int cell_y, double x, double y, double heading)

double	lineCost (int x0, int x1, int y0, int y1)

double	pointCost (int x, int y)

Private Attributes
double	acc_lim_theta_
	The acceleration limits of the robot. More...

double	acc_lim_x_

double	acc_lim_y_

double	angular_sim_granularity_
	The distance between angular simulation points. More...

double	backup_vel_
	The velocity to use while backing up. More...

double	circumscribed_radius_

boost::mutex	configuration_mutex_

const costmap_2d::Costmap2D &	costmap_
	Provides access to cost map information. More...

bool	dwa_
	Should we use the dynamic window approach? More...

double	escape_reset_dist_

double	escape_reset_theta_
	The distance the robot must travel before it can leave escape mode. More...

double	escape_theta_
	Used to calculate the distance the robot has traveled before reseting escape booleans. More...

double	escape_x_

double	escape_y_

bool	escaping_
	Boolean to keep track of whether we're in escape mode. More...

bool	final_goal_position_valid_
	True if final_goal_x_ and final_goal_y_ have valid data. Only false if an empty path is sent. More...

double	final_goal_x_

double	final_goal_y_
	The end position of the plan. More...

base_local_planner::FootprintHelper	footprint_helper_

std::vector< geometry_msgs::Point >	footprint_spec_
	The footprint specification of the robot. More...

double	gdist_scale_

std::vector< geometry_msgs::PoseStamped >	global_plan_
	The global path for the robot to follow. More...

MapGrid	goal_map_
	The local map grid where we propagate goal distance. More...

double	goal_x_

double	goal_y_
	Storage for the local goal the robot is pursuing. More...

double	heading_lookahead_
	How far the robot should look ahead of itself when differentiating between different rotational velocities. More...

bool	heading_scoring_
	Should we score based on the rollout approach or the heading approach. More...

double	heading_scoring_timestep_
	How far to look ahead in time when we score a heading. More...

bool	holonomic_robot_
	Is the robot holonomic or not? More...

double	inscribed_radius_

double	max_vel_th_

double	max_vel_x_

bool	meter_scoring_

double	min_in_place_vel_th_
	Velocity limits for the controller. More...

double	min_vel_th_

double	min_vel_x_

double	occdist_scale_
	Scaling factors for the controller's cost function. More...

double	oscillation_reset_dist_
	The distance the robot must travel before it can explore rotational velocities that were unsuccessful in the past. More...

MapGrid	path_map_
	The local map grid where we propagate path distance. More...

double	pdist_scale_

double	prev_x_

double	prev_y_
	Used to calculate the distance the robot has traveled before reseting oscillation booleans. More...

bool	rotating_left

bool	rotating_right
	Booleans to keep track of the direction of rotation for the robot. More...

double	sim_granularity_
	The distance between simulation points. More...

double	sim_period_
	The number of seconds to use to compute max/min vels for dwa. More...

double	sim_time_
	The number of seconds each trajectory is "rolled-out". More...

bool	simple_attractor_
	Enables simple attraction to a goal point. More...

double	stop_time_buffer_
	How long before hitting something we're going to enforce that the robot stop. More...

bool	strafe_left
	Booleans to keep track of strafe direction for the robot. More...

bool	strafe_right

bool	stuck_left

bool	stuck_left_strafe

bool	stuck_right
	Booleans to keep the robot from oscillating during rotation. More...

bool	stuck_right_strafe
	Booleans to keep the robot from oscillating during strafing. More...

Trajectory	traj_one

Trajectory	traj_two
	Used for scoring trajectories. More...

int	vtheta_samples_
	The number of samples we'll take in the theta dimension of the control space. More...

int	vx_samples_
	The number of samples we'll take in the x dimenstion of the control space. More...

WorldModel &	world_model_
	The world model that the controller uses for collision detection. More...

std::vector< double >	y_vels_
	Y velocities to explore. More...

Friends
class	TrajectoryPlannerTest

Detailed Description

Computes control velocities for a robot given a costmap, a plan, and the robot's position in the world.

Definition at line 69 of file trajectory_planner.h.

Constructor & Destructor Documentation

base_local_planner::TrajectoryPlanner::TrajectoryPlanner	(	WorldModel &	world_model,
		const costmap_2d::Costmap2D &	costmap,
		std::vector< geometry_msgs::Point >	footprint_spec,
		double	acc_lim_x = `1.0`,
		double	acc_lim_y = `1.0`,
		double	acc_lim_theta = `1.0`,
		double	sim_time = `1.0`,
		double	sim_granularity = `0.025`,
		int	vx_samples = `20`,
		int	vtheta_samples = `20`,
		double	pdist_scale = `0.6`,
		double	gdist_scale = `0.8`,
		double	occdist_scale = `0.2`,
		double	heading_lookahead = `0.325`,
		double	oscillation_reset_dist = `0.05`,
		double	escape_reset_dist = `0.10`,
		double	escape_reset_theta = `M_PI_2`,
		bool	holonomic_robot = `true`,
		double	max_vel_x = `0.5`,
		double	min_vel_x = `0.1`,
		double	max_vel_th = `1.0`,
		double	min_vel_th = `-1.0`,
		double	min_in_place_vel_th = `0.4`,
		double	backup_vel = `-0.1`,
		bool	dwa = `false`,
		bool	heading_scoring = `false`,
		double	heading_scoring_timestep = `0.1`,
		bool	meter_scoring = `true`,
		bool	simple_attractor = `false`,
		std::vector< double >	y_vels = `std::vector<double>(0)`,
		double	stop_time_buffer = `0.2`,
		double	sim_period = `0.1`,
		double	angular_sim_granularity = `0.025`
	)

Constructs a trajectory controller.

Parameters

world_model	The WorldModel the trajectory controller uses to check for collisions
costmap	A reference to the Costmap the controller should use
footprint_spec	A polygon representing the footprint of the robot. (Must be convex)
inscribed_radius	The radius of the inscribed circle of the robot
circumscribed_radius	The radius of the circumscribed circle of the robot
acc_lim_x	The acceleration limit of the robot in the x direction
acc_lim_y	The acceleration limit of the robot in the y direction
acc_lim_theta	The acceleration limit of the robot in the theta direction
sim_time	The number of seconds to "roll-out" each trajectory
sim_granularity	The distance between simulation points should be small enough that the robot doesn't hit things
vx_samples	The number of trajectories to sample in the x dimension
vtheta_samples	The number of trajectories to sample in the theta dimension
pdist_scale	A scaling factor for how close the robot should stay to the path
gdist_scale	A scaling factor for how aggresively the robot should pursue a local goal
occdist_scale	A scaling factor for how much the robot should prefer to stay away from obstacles
heading_lookahead	How far the robot should look ahead of itself when differentiating between different rotational velocities
oscillation_reset_dist	The distance the robot must travel before it can explore rotational velocities that were unsuccessful in the past
escape_reset_dist	The distance the robot must travel before it can exit escape mode
escape_reset_theta	The distance the robot must rotate before it can exit escape mode
holonomic_robot	Set this to true if the robot being controlled can take y velocities and false otherwise
max_vel_x	The maximum x velocity the controller will explore
min_vel_x	The minimum x velocity the controller will explore
max_vel_th	The maximum rotational velocity the controller will explore
min_vel_th	The minimum rotational velocity the controller will explore
min_in_place_vel_th	The absolute value of the minimum in-place rotational velocity the controller will explore
backup_vel	The velocity to use while backing up
dwa	Set this to true to use the Dynamic Window Approach, false to use acceleration limits
heading_scoring	Set this to true to score trajectories based on the robot's heading after 1 timestep
heading_scoring_timestep	How far to look ahead in time when we score heading based trajectories
meter_scoring	adapt parameters to costmap resolution
simple_attractor	Set this to true to allow simple attraction to a goal point instead of intelligent cost propagation
y_vels	A vector of the y velocities the controller will explore
angular_sim_granularity	The distance between simulation points for angular velocity should be small enough that the robot doesn't hit things

Definition at line 141 of file trajectory_planner.cpp.

base_local_planner::TrajectoryPlanner::~TrajectoryPlanner ( )

Destructs a trajectory controller.

Definition at line 190 of file trajectory_planner.cpp.

Member Function Documentation

bool base_local_planner::TrajectoryPlanner::checkTrajectory	(	double	x,
		double	y,
		double	theta,
		double	vx,
		double	vy,
		double	vtheta,
		double	vx_samp,
		double	vy_samp,
		double	vtheta_samp
	)

Generate and score a single trajectory.

Parameters

x	The x position of the robot
y	The y position of the robot
theta	The orientation of the robot
vx	The x velocity of the robot
vy	The y velocity of the robot
vtheta	The theta velocity of the robot
vx_samp	The x velocity used to seed the trajectory
vy_samp	The y velocity used to seed the trajectory
vtheta_samp	The theta velocity used to seed the trajectory

Returns: True if the trajectory is legal, false otherwise

Definition at line 502 of file trajectory_planner.cpp.

double base_local_planner::TrajectoryPlanner::computeNewThetaPosition	(	double	thetai,
		double	vth,
		double	dt
	)

inlineprivate

Compute orientation based on velocity.

Parameters

thetai	The current orientation
vth	The current theta velocity
dt	The timestep to take

Returns: The new orientation

Definition at line 356 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::computeNewVelocity	(	double	vg,
		double	vi,
		double	a_max,
		double	dt
	)

inlineprivate

Compute velocity based on acceleration.

Parameters

vg	The desired velocity, what we're accelerating up to
vi	The current velocity
a_max	An acceleration limit
dt	The timestep to take

Returns: The new velocity

Definition at line 369 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::computeNewXPosition	(	double	xi,
		double	vx,
		double	vy,
		double	theta,
		double	dt
	)

inlineprivate

Compute x position based on velocity.

Parameters

xi	The current x position
vx	The current x velocity
vy	The current y velocity
theta	The current orientation
dt	The timestep to take

Returns: The new x position

Definition at line 332 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::computeNewYPosition	(	double	yi,
		double	vx,
		double	vy,
		double	theta,
		double	dt
	)

inlineprivate

Compute y position based on velocity.

Parameters

yi	The current y position
vx	The current x velocity
vy	The current y velocity
theta	The current orientation
dt	The timestep to take

Returns: The new y position

Definition at line 345 of file trajectory_planner.h.

Trajectory base_local_planner::TrajectoryPlanner::createTrajectories	(	double	x,
		double	y,
		double	theta,
		double	vx,
		double	vy,
		double	vtheta,
		double	acc_x,
		double	acc_y,
		double	acc_theta
	)

private

Create the trajectories we wish to explore, score them, and return the best option.

Parameters

x	The x position of the robot
y	The y position of the robot
theta	The orientation of the robot
vx	The x velocity of the robot
vy	The y velocity of the robot
vtheta	The theta velocity of the robot
acc_x	The x acceleration limit of the robot
acc_y	The y acceleration limit of the robot
acc_theta	The theta acceleration limit of the robot

Returns

Definition at line 535 of file trajectory_planner.cpp.

Trajectory base_local_planner::TrajectoryPlanner::findBestPath	(	tf::Stamped< tf::Pose >	global_pose,
		tf::Stamped< tf::Pose >	global_vel,
		tf::Stamped< tf::Pose > &	drive_velocities
	)

Given the current position, orientation, and velocity of the robot, return a trajectory to follow.

Parameters

global_pose	The current pose of the robot in world space
global_vel	The current velocity of the robot in world space
drive_velocities	Will be set to velocities to send to the robot base

Returns: The selected path or trajectory

Definition at line 906 of file trajectory_planner.cpp.

double base_local_planner::TrajectoryPlanner::footprintCost	(	double	x_i,
		double	y_i,
		double	theta_i
	)

private

Checks the legality of the robot footprint at a position and orientation using the world model.

Parameters

x_i	The x position of the robot
y_i	The y position of the robot
theta_i	The orientation of the robot

Returns

Definition at line 980 of file trajectory_planner.cpp.

void base_local_planner::TrajectoryPlanner::generateTrajectory	(	double	x,
		double	y,
		double	theta,
		double	vx,
		double	vy,
		double	vtheta,
		double	vx_samp,
		double	vy_samp,
		double	vtheta_samp,
		double	acc_x,
		double	acc_y,
		double	acc_theta,
		double	impossible_cost,
		Trajectory &	traj
	)

private

Generate and score a single trajectory.

Parameters

x	The x position of the robot
y	The y position of the robot
theta	The orientation of the robot
vx	The x velocity of the robot
vy	The y velocity of the robot
vtheta	The theta velocity of the robot
vx_samp	The x velocity used to seed the trajectory
vy_samp	The y velocity used to seed the trajectory
vtheta_samp	The theta velocity used to seed the trajectory
acc_x	The x acceleration limit of the robot
acc_y	The y acceleration limit of the robot
acc_theta	The theta acceleration limit of the robot
impossible_cost	The cost value of a cell in the local map grid that is considered impassable
traj	Will be set to the generated trajectory with its associated score

create and score a trajectory given the current pose of the robot and selected velocities

Definition at line 213 of file trajectory_planner.cpp.

bool base_local_planner::TrajectoryPlanner::getCellCosts	(	int	cx,
		int	cy,
		float &	path_cost,
		float &	goal_cost,
		float &	occ_cost,
		float &	total_cost
	)

Compute the components and total cost for a map grid cell.

Parameters

cx	The x coordinate of the cell in the map grid
cy	The y coordinate of the cell in the map grid
path_cost	Will be set to the path distance component of the cost function
goal_cost	Will be set to the goal distance component of the cost function
occ_cost	Will be set to the costmap value of the cell
total_cost	Will be set to the value of the overall cost function, taking into account the scaling parameters

Returns: True if the cell is traversible and therefore a legal location for the robot to move to

Definition at line 192 of file trajectory_planner.cpp.

std::vector<geometry_msgs::Point> base_local_planner::TrajectoryPlanner::getFootprint ( ) const

inline

Definition at line 211 of file trajectory_planner.h.

geometry_msgs::Polygon base_local_planner::TrajectoryPlanner::getFootprintPolygon ( ) const

inline

Return the footprint specification of the robot.

Definition at line 210 of file trajectory_planner.h.

void base_local_planner::TrajectoryPlanner::getLocalGoal	(	double &	x,
		double &	y
	)

Accessor for the goal the robot is currently pursuing in world corrdinates.

Parameters

x	Will be set to the x position of the local goal
y	Will be set to the y position of the local goal

Definition at line 986 of file trajectory_planner.cpp.

void base_local_planner::TrajectoryPlanner::getMaxSpeedToStopInTime	(	double	time,
		double &	vx,
		double &	vy,
		double &	vth
	)

inlineprivate

Definition at line 376 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::headingDiff	(	int	cell_x,
		int	cell_y,
		double	x,
		double	y,
		double	heading
	)

private

Definition at line 371 of file trajectory_planner.cpp.

double base_local_planner::TrajectoryPlanner::lineCost	(	int	x0,
		int	x1,
		int	y0,
		int	y1
	)

private

Definition at line 388 of file trajectory_planner.cpp.

double base_local_planner::TrajectoryPlanner::pointCost	(	int	x,
		int	y
	)

private

Definition at line 465 of file trajectory_planner.cpp.

void base_local_planner::TrajectoryPlanner::reconfigure ( BaseLocalPlannerConfig & cfg )

Reconfigures the trajectory planner.

Definition at line 59 of file trajectory_planner.cpp.

double base_local_planner::TrajectoryPlanner::scoreTrajectory	(	double	x,
		double	y,
		double	theta,
		double	vx,
		double	vy,
		double	vtheta,
		double	vx_samp,
		double	vy_samp,
		double	vtheta_samp
	)

Generate and score a single trajectory.

Parameters

x	The x position of the robot
y	The y position of the robot
theta	The orientation of the robot
vx	The x velocity of the robot
vy	The y velocity of the robot
vtheta	The theta velocity of the robot
vx_samp	The x velocity used to seed the trajectory
vy_samp	The y velocity used to seed the trajectory
vtheta_samp	The theta velocity used to seed the trajectory

Returns: The score (as double)

Definition at line 518 of file trajectory_planner.cpp.

void base_local_planner::TrajectoryPlanner::setFootprint ( std::vector< geometry_msgs::Point > footprint )

inline

Set the footprint specification of the robot.

Definition at line 207 of file trajectory_planner.h.

void base_local_planner::TrajectoryPlanner::updatePlan	(	const std::vector< geometry_msgs::PoseStamped > &	new_plan,
		bool	compute_dists = `false`
	)

Update the plan that the controller is following.

Parameters

new_plan	A new plan for the controller to follow
compute_dists	Wheter or not to compute path/goal distances when a plan is updated

Definition at line 475 of file trajectory_planner.cpp.

Friends And Related Function Documentation

friend class TrajectoryPlannerTest

friend

Definition at line 70 of file trajectory_planner.h.

Member Data Documentation

double base_local_planner::TrajectoryPlanner::acc_lim_theta_

private

The acceleration limits of the robot.

Definition at line 293 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::acc_lim_x_

private

Definition at line 293 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::acc_lim_y_

private

Definition at line 293 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::angular_sim_granularity_

private

The distance between angular simulation points.

Definition at line 287 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::backup_vel_

private

The velocity to use while backing up.

Definition at line 307 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::circumscribed_radius_

private

Definition at line 319 of file trajectory_planner.h.

boost::mutex base_local_planner::TrajectoryPlanner::configuration_mutex_

private

Definition at line 321 of file trajectory_planner.h.

const costmap_2d::Costmap2D& base_local_planner::TrajectoryPlanner::costmap_

private

Provides access to cost map information.

Definition at line 264 of file trajectory_planner.h.

bool base_local_planner::TrajectoryPlanner::dwa_

private

Should we use the dynamic window approach?

Definition at line 309 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::escape_reset_dist_

private

Definition at line 302 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::escape_reset_theta_

private

The distance the robot must travel before it can leave escape mode.

Definition at line 302 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::escape_theta_

private

Used to calculate the distance the robot has traveled before reseting escape booleans.

Definition at line 296 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::escape_x_

private

Definition at line 296 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::escape_y_

private

Definition at line 296 of file trajectory_planner.h.

bool base_local_planner::TrajectoryPlanner::escaping_

private

Boolean to keep track of whether we're in escape mode.

Definition at line 277 of file trajectory_planner.h.

bool base_local_planner::TrajectoryPlanner::final_goal_position_valid_

private

True if final_goal_x_ and final_goal_y_ have valid data. Only false if an empty path is sent.

Definition at line 283 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::final_goal_x_

private

Definition at line 282 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::final_goal_y_

private

The end position of the plan.

Definition at line 282 of file trajectory_planner.h.

base_local_planner::FootprintHelper base_local_planner::TrajectoryPlanner::footprint_helper_

private

Definition at line 260 of file trajectory_planner.h.

std::vector<geometry_msgs::Point> base_local_planner::TrajectoryPlanner::footprint_spec_

private

The footprint specification of the robot.

Definition at line 267 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::gdist_scale_

private

Definition at line 292 of file trajectory_planner.h.

std::vector<geometry_msgs::PoseStamped> base_local_planner::TrajectoryPlanner::global_plan_

private

The global path for the robot to follow.

Definition at line 269 of file trajectory_planner.h.

MapGrid base_local_planner::TrajectoryPlanner::goal_map_

private

The local map grid where we propagate goal distance.

Definition at line 263 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::goal_x_

private

Definition at line 280 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::goal_y_

private

Storage for the local goal the robot is pursuing.

Definition at line 280 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::heading_lookahead_

private

How far the robot should look ahead of itself when differentiating between different rotational velocities.

Definition at line 300 of file trajectory_planner.h.

bool base_local_planner::TrajectoryPlanner::heading_scoring_

private

Should we score based on the rollout approach or the heading approach.

Definition at line 310 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::heading_scoring_timestep_

private

How far to look ahead in time when we score a heading.

Definition at line 311 of file trajectory_planner.h.

bool base_local_planner::TrajectoryPlanner::holonomic_robot_

private

Is the robot holonomic or not?

Definition at line 303 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::inscribed_radius_

private

Definition at line 319 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::max_vel_th_

private

Definition at line 305 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::max_vel_x_

private

Definition at line 305 of file trajectory_planner.h.

bool base_local_planner::TrajectoryPlanner::meter_scoring_

private

Definition at line 278 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::min_in_place_vel_th_

private

Velocity limits for the controller.

Definition at line 305 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::min_vel_th_

private

Definition at line 305 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::min_vel_x_

private

Definition at line 305 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::occdist_scale_

private

Scaling factors for the controller's cost function.

Definition at line 292 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::oscillation_reset_dist_

private

The distance the robot must travel before it can explore rotational velocities that were unsuccessful in the past.

Definition at line 301 of file trajectory_planner.h.

MapGrid base_local_planner::TrajectoryPlanner::path_map_

private

The local map grid where we propagate path distance.

Definition at line 262 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::pdist_scale_

private

Definition at line 292 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::prev_x_

private

Definition at line 295 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::prev_y_

private

Used to calculate the distance the robot has traveled before reseting oscillation booleans.

Definition at line 295 of file trajectory_planner.h.

bool base_local_planner::TrajectoryPlanner::rotating_left

private

Definition at line 272 of file trajectory_planner.h.

bool base_local_planner::TrajectoryPlanner::rotating_right

private

Booleans to keep track of the direction of rotation for the robot.

Definition at line 272 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::sim_granularity_

private

The distance between simulation points.

Definition at line 286 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::sim_period_

private

The number of seconds to use to compute max/min vels for dwa.

Definition at line 317 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::sim_time_

private

The number of seconds each trajectory is "rolled-out".

Definition at line 285 of file trajectory_planner.h.

bool base_local_planner::TrajectoryPlanner::simple_attractor_

private

Enables simple attraction to a goal point.

Definition at line 312 of file trajectory_planner.h.

double base_local_planner::TrajectoryPlanner::stop_time_buffer_

private

How long before hitting something we're going to enforce that the robot stop.

Definition at line 316 of file trajectory_planner.h.

bool base_local_planner::TrajectoryPlanner::strafe_left

private

Booleans to keep track of strafe direction for the robot.

Definition at line 275 of file trajectory_planner.h.

bool base_local_planner::TrajectoryPlanner::strafe_right

private

Definition at line 275 of file trajectory_planner.h.

bool base_local_planner::TrajectoryPlanner::stuck_left

private

Definition at line 271 of file trajectory_planner.h.

bool base_local_planner::TrajectoryPlanner::stuck_left_strafe

private

Definition at line 274 of file trajectory_planner.h.

bool base_local_planner::TrajectoryPlanner::stuck_right

private

Booleans to keep the robot from oscillating during rotation.

Definition at line 271 of file trajectory_planner.h.

bool base_local_planner::TrajectoryPlanner::stuck_right_strafe

private

Booleans to keep the robot from oscillating during strafing.

Definition at line 274 of file trajectory_planner.h.

Trajectory base_local_planner::TrajectoryPlanner::traj_one

private

Definition at line 298 of file trajectory_planner.h.

Trajectory base_local_planner::TrajectoryPlanner::traj_two

private

Used for scoring trajectories.

Definition at line 298 of file trajectory_planner.h.

int base_local_planner::TrajectoryPlanner::vtheta_samples_

private

The number of samples we'll take in the theta dimension of the control space.

Definition at line 290 of file trajectory_planner.h.

int base_local_planner::TrajectoryPlanner::vx_samples_

private

The number of samples we'll take in the x dimenstion of the control space.

Definition at line 289 of file trajectory_planner.h.

WorldModel& base_local_planner::TrajectoryPlanner::world_model_

private

The world model that the controller uses for collision detection.

Definition at line 265 of file trajectory_planner.h.

std::vector<double> base_local_planner::TrajectoryPlanner::y_vels_

private

Y velocities to explore.

Definition at line 314 of file trajectory_planner.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation