SafetyLimiterNode Class Reference

Classes
class	polygon
class	vec

Public Member Functions
	SafetyLimiterNode ()
void	spin ()

Protected Member Functions
void	cbCloud (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	cbDisable (const std_msgs::Bool::ConstPtr &msg)
void	cbPredictTimer (const ros::TimerEvent &event)
void	cbTwist (const geometry_msgs::Twist::ConstPtr &msg)
void	cbWatchdogReset (const std_msgs::Empty::ConstPtr &msg)
void	cbWatchdogTimer (const ros::TimerEvent &event)
void	diagnoseCollision (diagnostic_updater::DiagnosticStatusWrapper &stat)
geometry_msgs::Twist	limit (const geometry_msgs::Twist &in)
double	predict (const geometry_msgs::Twist &in)

Protected Attributes
double	acc_ [2]
bool	allow_empty_cloud_
pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud_
bool	cloud_clear_
double	d_escape_
double	d_margin_
diagnostic_updater::Updater	diag_updater_
double	disable_timeout_
double	downsample_grid_
double	dt_
polygon	footprint_p
float	footprint_radius_
std::string	frame_id_
bool	has_cloud_
bool	has_collision_at_now_
bool	has_twist_
ros::Duration	hold_
ros::Time	hold_off_
double	hz_
ros::Time	last_cloud_stamp_
ros::Time	last_disable_cmd_
ros::NodeHandle	nh_
ros::NodeHandle	pnh_
ros::Publisher	pub_cloud_
ros::Publisher	pub_debug_
ros::Publisher	pub_twist_
double	r_lim_
std::vector< ros::Subscriber >	sub_clouds_
ros::Subscriber	sub_disable_
ros::Subscriber	sub_twist_
ros::Subscriber	sub_watchdog_
tf2_ros::Buffer	tfbuf_
tf2_ros::TransformListener	tfl_
double	timeout_
double	tmax_
geometry_msgs::Twist	twist_
double	vel_ [2]
ros::Duration	watchdog_interval_
bool	watchdog_stop_
ros::Timer	watchdog_timer_
double	yaw_escape_
double	yaw_margin_
double	z_range_ [2]

Static Protected Attributes
static constexpr float	EPSILON = 1e-6

Detailed Description

Definition at line 90 of file safety_limiter.cpp.

Constructor & Destructor Documentation

SafetyLimiterNode::SafetyLimiterNode ( )

inline

Definition at line 143 of file safety_limiter.cpp.

Member Function Documentation

void SafetyLimiterNode::cbCloud ( const sensor_msgs::PointCloud2::ConstPtr &  msg )

inlineprotected

Definition at line 627 of file safety_limiter.cpp.

void SafetyLimiterNode::cbDisable ( const std_msgs::Bool::ConstPtr &  msg )

inlineprotected

Definition at line 654 of file safety_limiter.cpp.

void SafetyLimiterNode::cbPredictTimer ( const ros::TimerEvent &  event )

inlineprotected

Definition at line 289 of file safety_limiter.cpp.

void SafetyLimiterNode::cbTwist ( const geometry_msgs::Twist::ConstPtr &  msg )

inlineprotected

Definition at line 602 of file safety_limiter.cpp.

void SafetyLimiterNode::cbWatchdogReset ( const std_msgs::Empty::ConstPtr &  msg )

inlineprotected

Definition at line 277 of file safety_limiter.cpp.

void SafetyLimiterNode::cbWatchdogTimer ( const ros::TimerEvent &  event )

inlineprotected

Definition at line 282 of file safety_limiter.cpp.

void SafetyLimiterNode::diagnoseCollision ( diagnostic_updater::DiagnosticStatusWrapper &  stat )

inlineprotected

Definition at line 662 of file safety_limiter.cpp.

geometry_msgs::Twist SafetyLimiterNode::limit ( const geometry_msgs::Twist &  in )

inlineprotected

Definition at line 478 of file safety_limiter.cpp.

double SafetyLimiterNode::predict ( const geometry_msgs::Twist &  in )

inlineprotected

Definition at line 319 of file safety_limiter.cpp.

void SafetyLimiterNode::spin ( )

inline

Definition at line 262 of file safety_limiter.cpp.

Member Data Documentation

double SafetyLimiterNode::acc_[2]

protected

Definition at line 114 of file safety_limiter.cpp.

bool SafetyLimiterNode::allow_empty_cloud_

protected

Definition at line 131 of file safety_limiter.cpp.

pcl::PointCloud<pcl::PointXYZ>::Ptr SafetyLimiterNode::cloud_

protected

Definition at line 108 of file safety_limiter.cpp.

bool SafetyLimiterNode::cloud_clear_

protected

Definition at line 109 of file safety_limiter.cpp.

double SafetyLimiterNode::d_escape_

protected

Definition at line 118 of file safety_limiter.cpp.

double SafetyLimiterNode::d_margin_

protected

Definition at line 117 of file safety_limiter.cpp.

diagnostic_updater::Updater SafetyLimiterNode::diag_updater_

protected

Definition at line 140 of file safety_limiter.cpp.

double SafetyLimiterNode::disable_timeout_

protected

Definition at line 112 of file safety_limiter.cpp.

double SafetyLimiterNode::downsample_grid_

protected

Definition at line 124 of file safety_limiter.cpp.

double SafetyLimiterNode::dt_

protected

Definition at line 116 of file safety_limiter.cpp.

constexpr float SafetyLimiterNode::EPSILON = 1e-6

staticprotected

Definition at line 138 of file safety_limiter.cpp.

polygon SafetyLimiterNode::footprint_p

protected

Definition at line 600 of file safety_limiter.cpp.

float SafetyLimiterNode::footprint_radius_

protected

Definition at line 123 of file safety_limiter.cpp.

std::string SafetyLimiterNode::frame_id_

protected

Definition at line 125 of file safety_limiter.cpp.

bool SafetyLimiterNode::has_cloud_

protected

Definition at line 134 of file safety_limiter.cpp.

bool SafetyLimiterNode::has_collision_at_now_

protected

Definition at line 136 of file safety_limiter.cpp.

bool SafetyLimiterNode::has_twist_

protected

Definition at line 135 of file safety_limiter.cpp.

ros::Duration SafetyLimiterNode::hold_

protected

Definition at line 128 of file safety_limiter.cpp.

ros::Time SafetyLimiterNode::hold_off_

protected

Definition at line 129 of file safety_limiter.cpp.

double SafetyLimiterNode::hz_

protected

Definition at line 110 of file safety_limiter.cpp.

ros::Time SafetyLimiterNode::last_cloud_stamp_

protected

Definition at line 107 of file safety_limiter.cpp.

ros::Time SafetyLimiterNode::last_disable_cmd_

protected

Definition at line 127 of file safety_limiter.cpp.

ros::NodeHandle SafetyLimiterNode::nh_

protected

Definition at line 93 of file safety_limiter.cpp.

ros::NodeHandle SafetyLimiterNode::pnh_

protected

Definition at line 94 of file safety_limiter.cpp.

ros::Publisher SafetyLimiterNode::pub_cloud_

protected

Definition at line 96 of file safety_limiter.cpp.

ros::Publisher SafetyLimiterNode::pub_debug_

protected

Definition at line 97 of file safety_limiter.cpp.

ros::Publisher SafetyLimiterNode::pub_twist_

protected

Definition at line 95 of file safety_limiter.cpp.

double SafetyLimiterNode::r_lim_

protected

Definition at line 121 of file safety_limiter.cpp.

std::vector<ros::Subscriber> SafetyLimiterNode::sub_clouds_

protected

Definition at line 99 of file safety_limiter.cpp.

ros::Subscriber SafetyLimiterNode::sub_disable_

protected

Definition at line 100 of file safety_limiter.cpp.

ros::Subscriber SafetyLimiterNode::sub_twist_

protected

Definition at line 98 of file safety_limiter.cpp.

ros::Subscriber SafetyLimiterNode::sub_watchdog_

protected

Definition at line 101 of file safety_limiter.cpp.

tf2_ros::Buffer SafetyLimiterNode::tfbuf_

protected

Definition at line 103 of file safety_limiter.cpp.

tf2_ros::TransformListener SafetyLimiterNode::tfl_

protected

Definition at line 104 of file safety_limiter.cpp.

double SafetyLimiterNode::timeout_

protected

Definition at line 111 of file safety_limiter.cpp.

double SafetyLimiterNode::tmax_

protected

Definition at line 115 of file safety_limiter.cpp.

geometry_msgs::Twist SafetyLimiterNode::twist_

protected

Definition at line 106 of file safety_limiter.cpp.

double SafetyLimiterNode::vel_[2]

protected

Definition at line 113 of file safety_limiter.cpp.

ros::Duration SafetyLimiterNode::watchdog_interval_

protected

Definition at line 130 of file safety_limiter.cpp.

bool SafetyLimiterNode::watchdog_stop_

protected

Definition at line 133 of file safety_limiter.cpp.

ros::Timer SafetyLimiterNode::watchdog_timer_

protected

Definition at line 102 of file safety_limiter.cpp.

double SafetyLimiterNode::yaw_escape_

protected

Definition at line 120 of file safety_limiter.cpp.

double SafetyLimiterNode::yaw_margin_

protected

Definition at line 119 of file safety_limiter.cpp.

double SafetyLimiterNode::z_range_[2]

protected

Definition at line 122 of file safety_limiter.cpp.

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

• safety_limiter.cpp