TrackerNode Class Reference

Public Member Functions
void	spin ()
	TrackerNode ()
	~TrackerNode ()

Private Member Functions
template<typename MSG_TYPE >
void	cbPath (const typename MSG_TYPE::ConstPtr &)
void	cbSpeed (const std_msgs::Float32::ConstPtr &)
void	cbTimer (const ros::TimerEvent &)
void	control ()

Private Attributes
double	acc_ [2]
double	acc_toc_ [2]
bool	allow_backward_
bool	check_old_path_
double	curv_forward_
double	d_lim_
double	d_stop_
double	epsilon_
std::string	frame_odom_
std::string	frame_robot_
double	gain_at_vel_
double	goal_tolerance_ang_
double	goal_tolerance_dist_
double	hz_
bool	in_place_turn_
double	k_ [3]
bool	limit_vel_by_avel_
double	look_forward_
double	min_track_path_
ros::NodeHandle	nh_
double	no_pos_cntl_dist_
trajectory_tracker::Path2D	path_
std_msgs::Header	path_header_
int	path_step_
int	path_step_done_
ros::NodeHandle	pnh_
ros::Publisher	pub_status_
ros::Publisher	pub_tracking_
ros::Publisher	pub_vel_
double	rotate_ang_
double	stop_tolerance_ang_
double	stop_tolerance_dist_
ros::Subscriber	sub_path_
ros::Subscriber	sub_path_velocity_
ros::Subscriber	sub_vel_
tf2_ros::Buffer	tfbuf_
tf2_ros::TransformListener	tfl_
std::string	topic_cmd_vel_
std::string	topic_path_
trajectory_tracker::VelAccLimitter	v_lim_
double	vel_ [2]
trajectory_tracker::VelAccLimitter	w_lim_

Detailed Description

Definition at line 73 of file trajectory_tracker.cpp.

Constructor & Destructor Documentation

TrackerNode::TrackerNode

(

)

Definition at line 133 of file trajectory_tracker.cpp.

TrackerNode::~TrackerNode

(

)

Definition at line 190 of file trajectory_tracker.cpp.

Member Function Documentation

template<typename MSG_TYPE >

void TrackerNode::cbPath ( const typename MSG_TYPE::ConstPtr &  msg )

private

Definition at line 216 of file trajectory_tracker.cpp.

void TrackerNode::cbSpeed ( const std_msgs::Float32::ConstPtr &  msg )

private

Definition at line 198 of file trajectory_tracker.cpp.

void TrackerNode::cbTimer ( const ros::TimerEvent &  event )

private

Definition at line 258 of file trajectory_tracker.cpp.

void TrackerNode::control ( )

private

Definition at line 270 of file trajectory_tracker.cpp.

void TrackerNode::spin

(

)

Definition at line 263 of file trajectory_tracker.cpp.

Member Data Documentation

double TrackerNode::acc_[2]

private

Definition at line 93 of file trajectory_tracker.cpp.

double TrackerNode::acc_toc_[2]

private

Definition at line 94 of file trajectory_tracker.cpp.

bool TrackerNode::allow_backward_

private

Definition at line 106 of file trajectory_tracker.cpp.

bool TrackerNode::check_old_path_

private

Definition at line 108 of file trajectory_tracker.cpp.

double TrackerNode::curv_forward_

private

Definition at line 87 of file trajectory_tracker.cpp.

double TrackerNode::d_lim_

private

Definition at line 90 of file trajectory_tracker.cpp.

double TrackerNode::d_stop_

private

Definition at line 91 of file trajectory_tracker.cpp.

double TrackerNode::epsilon_

private

Definition at line 109 of file trajectory_tracker.cpp.

std::string TrackerNode::frame_odom_

private

Definition at line 84 of file trajectory_tracker.cpp.

std::string TrackerNode::frame_robot_

private

Definition at line 83 of file trajectory_tracker.cpp.

double TrackerNode::gain_at_vel_

private

Definition at line 89 of file trajectory_tracker.cpp.

double TrackerNode::goal_tolerance_ang_

private

Definition at line 99 of file trajectory_tracker.cpp.

double TrackerNode::goal_tolerance_dist_

private

Definition at line 98 of file trajectory_tracker.cpp.

double TrackerNode::hz_

private

Definition at line 85 of file trajectory_tracker.cpp.

bool TrackerNode::in_place_turn_

private

Definition at line 110 of file trajectory_tracker.cpp.

double TrackerNode::k_[3]

private

Definition at line 88 of file trajectory_tracker.cpp.

bool TrackerNode::limit_vel_by_avel_

private

Definition at line 107 of file trajectory_tracker.cpp.

double TrackerNode::look_forward_

private

Definition at line 86 of file trajectory_tracker.cpp.

double TrackerNode::min_track_path_

private

Definition at line 103 of file trajectory_tracker.cpp.

ros::NodeHandle TrackerNode::nh_

private

Definition at line 118 of file trajectory_tracker.cpp.

double TrackerNode::no_pos_cntl_dist_

private

Definition at line 102 of file trajectory_tracker.cpp.

trajectory_tracker::Path2D TrackerNode::path_

private

Definition at line 123 of file trajectory_tracker.cpp.

std_msgs::Header TrackerNode::path_header_

private

Definition at line 124 of file trajectory_tracker.cpp.

int TrackerNode::path_step_

private

Definition at line 104 of file trajectory_tracker.cpp.

int TrackerNode::path_step_done_

private

Definition at line 105 of file trajectory_tracker.cpp.

ros::NodeHandle TrackerNode::pnh_

private

Definition at line 119 of file trajectory_tracker.cpp.

ros::Publisher TrackerNode::pub_status_

private

Definition at line 116 of file trajectory_tracker.cpp.

ros::Publisher TrackerNode::pub_tracking_

private

Definition at line 117 of file trajectory_tracker.cpp.

ros::Publisher TrackerNode::pub_vel_

private

Definition at line 115 of file trajectory_tracker.cpp.

double TrackerNode::rotate_ang_

private

Definition at line 97 of file trajectory_tracker.cpp.

double TrackerNode::stop_tolerance_ang_

private

Definition at line 101 of file trajectory_tracker.cpp.

double TrackerNode::stop_tolerance_dist_

private

Definition at line 100 of file trajectory_tracker.cpp.

ros::Subscriber TrackerNode::sub_path_

private

Definition at line 112 of file trajectory_tracker.cpp.

ros::Subscriber TrackerNode::sub_path_velocity_

private

Definition at line 113 of file trajectory_tracker.cpp.

ros::Subscriber TrackerNode::sub_vel_

private

Definition at line 114 of file trajectory_tracker.cpp.

tf2_ros::Buffer TrackerNode::tfbuf_

private

Definition at line 120 of file trajectory_tracker.cpp.

tf2_ros::TransformListener TrackerNode::tfl_

private

Definition at line 121 of file trajectory_tracker.cpp.

std::string TrackerNode::topic_cmd_vel_

private

Definition at line 82 of file trajectory_tracker.cpp.

std::string TrackerNode::topic_path_

private

Definition at line 81 of file trajectory_tracker.cpp.

trajectory_tracker::VelAccLimitter TrackerNode::v_lim_

private

Definition at line 95 of file trajectory_tracker.cpp.

double TrackerNode::vel_[2]

private

Definition at line 92 of file trajectory_tracker.cpp.

trajectory_tracker::VelAccLimitter TrackerNode::w_lim_

private

Definition at line 96 of file trajectory_tracker.cpp.

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

• trajectory_tracker.cpp