pose_base_controller::PoseBaseController Class Reference

#include <pose_base_controller.h>

Public Member Functions
bool	controlLoop (const move_base_msgs::MoveBaseGoal &current_goal)
geometry_msgs::Twist	diff2D (const tf::Pose &pose1, const tf::Pose &pose2)
void	execute (const move_base_msgs::MoveBaseGoalConstPtr &user_goal)
tf::Stamped< tf::Pose >	getRobotPose ()
move_base_msgs::MoveBaseGoal	goalToFixedFrame (const move_base_msgs::MoveBaseGoal &goal)
double	headingDiff (double pt_x, double pt_y, double x, double y, double heading)
geometry_msgs::Twist	limitTwist (const geometry_msgs::Twist &twist)
	PoseBaseController ()
double	sign (double n)
	~PoseBaseController ()

Private Types
typedef actionlib::SimpleActionServer< move_base_msgs::MoveBaseAction >	MoveBaseActionServer

Private Member Functions
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
bool	stopped ()

Private Attributes
MoveBaseActionServer	action_server_
std::string	base_frame_
nav_msgs::Odometry	base_odom_
std::string	fixed_frame_
double	freq_
bool	holonomic_
double	in_place_trans_vel_
double	K_rot_
double	K_trans_
double	max_vel_lin_
double	max_vel_th_
double	min_in_place_vel_th_
double	min_vel_lin_
double	min_vel_th_
boost::mutex	odom_lock_
ros::Subscriber	odom_sub_
double	rot_stopped_velocity_
tf::TransformListener	tf_
double	tolerance_rot_
double	tolerance_timeout_
double	tolerance_trans_
double	trans_stopped_velocity_
double	transform_tolerance_
ros::Publisher	vel_pub_

Detailed Description

Definition at line 52 of file pose_base_controller.h.

Member Typedef Documentation

typedef actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> pose_base_controller::PoseBaseController::MoveBaseActionServer

private

Definition at line 54 of file pose_base_controller.h.

Constructor & Destructor Documentation

pose_base_controller::PoseBaseController::PoseBaseController

(

)

Definition at line 40 of file pose_base_controller.cpp.

pose_base_controller::PoseBaseController::~PoseBaseController ( )

inline

Definition at line 59 of file pose_base_controller.h.

Member Function Documentation

bool pose_base_controller::PoseBaseController::controlLoop

(

const move_base_msgs::MoveBaseGoal &

current_goal

)

Definition at line 179 of file pose_base_controller.cpp.

geometry_msgs::Twist pose_base_controller::PoseBaseController::diff2D	(	const tf::Pose &	pose1,
		const tf::Pose &	pose2
	)

Definition at line 239 of file pose_base_controller.cpp.

void pose_base_controller::PoseBaseController::execute

(

const move_base_msgs::MoveBaseGoalConstPtr &

user_goal

)

Definition at line 139 of file pose_base_controller.cpp.

tf::Stamped< tf::Pose > pose_base_controller::PoseBaseController::getRobotPose

(

)

Definition at line 104 of file pose_base_controller.cpp.

move_base_msgs::MoveBaseGoal pose_base_controller::PoseBaseController::goalToFixedFrame

(

const move_base_msgs::MoveBaseGoal &

goal

)

Definition at line 116 of file pose_base_controller.cpp.

double pose_base_controller::PoseBaseController::headingDiff	(	double	pt_x,
		double	pt_y,
		double	x,
		double	y,
		double	heading
	)

Definition at line 88 of file pose_base_controller.cpp.

geometry_msgs::Twist pose_base_controller::PoseBaseController::limitTwist

(

const geometry_msgs::Twist &

twist

)

Definition at line 281 of file pose_base_controller.cpp.

void pose_base_controller::PoseBaseController::odomCallback ( const nav_msgs::Odometry::ConstPtr &  msg )

private

Definition at line 78 of file pose_base_controller.cpp.

double pose_base_controller::PoseBaseController::sign ( double  n )

inline

Definition at line 65 of file pose_base_controller.h.

bool pose_base_controller::PoseBaseController::stopped ( )

private

Definition at line 166 of file pose_base_controller.cpp.

Member Data Documentation

MoveBaseActionServer pose_base_controller::PoseBaseController::action_server_

private

Definition at line 78 of file pose_base_controller.h.

std::string pose_base_controller::PoseBaseController::base_frame_

private

Definition at line 87 of file pose_base_controller.h.

nav_msgs::Odometry pose_base_controller::PoseBaseController::base_odom_

private

Definition at line 91 of file pose_base_controller.h.

std::string pose_base_controller::PoseBaseController::fixed_frame_

private

Definition at line 87 of file pose_base_controller.h.

double pose_base_controller::PoseBaseController::freq_

private

Definition at line 82 of file pose_base_controller.h.

bool pose_base_controller::PoseBaseController::holonomic_

private

Definition at line 88 of file pose_base_controller.h.

double pose_base_controller::PoseBaseController::in_place_trans_vel_

private

Definition at line 85 of file pose_base_controller.h.

double pose_base_controller::PoseBaseController::K_rot_

private

Definition at line 81 of file pose_base_controller.h.

double pose_base_controller::PoseBaseController::K_trans_

private

Definition at line 81 of file pose_base_controller.h.

double pose_base_controller::PoseBaseController::max_vel_lin_

private

Definition at line 83 of file pose_base_controller.h.

double pose_base_controller::PoseBaseController::max_vel_th_

private

Definition at line 83 of file pose_base_controller.h.

double pose_base_controller::PoseBaseController::min_in_place_vel_th_

private

Definition at line 85 of file pose_base_controller.h.

double pose_base_controller::PoseBaseController::min_vel_lin_

private

Definition at line 84 of file pose_base_controller.h.

double pose_base_controller::PoseBaseController::min_vel_th_

private

Definition at line 84 of file pose_base_controller.h.

boost::mutex pose_base_controller::PoseBaseController::odom_lock_

private

Definition at line 89 of file pose_base_controller.h.

ros::Subscriber pose_base_controller::PoseBaseController::odom_sub_

private

Definition at line 90 of file pose_base_controller.h.

double pose_base_controller::PoseBaseController::rot_stopped_velocity_

private

Definition at line 92 of file pose_base_controller.h.

tf::TransformListener pose_base_controller::PoseBaseController::tf_

private

Definition at line 79 of file pose_base_controller.h.

double pose_base_controller::PoseBaseController::tolerance_rot_

private

Definition at line 81 of file pose_base_controller.h.

double pose_base_controller::PoseBaseController::tolerance_timeout_

private

Definition at line 82 of file pose_base_controller.h.

double pose_base_controller::PoseBaseController::tolerance_trans_

private

Definition at line 81 of file pose_base_controller.h.

double pose_base_controller::PoseBaseController::trans_stopped_velocity_

private

Definition at line 92 of file pose_base_controller.h.

double pose_base_controller::PoseBaseController::transform_tolerance_

private

Definition at line 86 of file pose_base_controller.h.

ros::Publisher pose_base_controller::PoseBaseController::vel_pub_

private

Definition at line 80 of file pose_base_controller.h.

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

• pose_base_controller.h
• pose_base_controller.cpp