#include <ftc_planner.h>

Inheritance diagram for ftc_local_planner::FTCPlanner:

Public Member Functions
bool	computeVelocityCommands (geometry_msgs::Twist &cmd_vel)
	Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base. More...

	FTCPlanner ()

void	initialize (std::string name, tf2_ros::Buffer tf, costmap_2d::Costmap2DROS costmap_ros)
	Constructs the local planner. More...

bool	isGoalReached ()
	Check if the goal pose has been achieved by the local planner. More...

bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &plan)
	Set the plan that the local planner is following. More...

	~FTCPlanner ()

Public Member Functions inherited from nav_core::BaseLocalPlanner
virtual	~BaseLocalPlanner ()

Private Member Functions
double	calculateGlobalPlanAngle (tf::Stamped< tf::Pose > current_pose, const std::vector< geometry_msgs::PoseStamped > &plan, int points)
	Calculate the orientation of the global plan. More...

bool	checkCollision (int max_points)
	Check if the considerd points are in local collision. More...

int	checkMaxAngle (int points, tf::Stamped< tf::Pose > current_pose)
	Goes backward along global plan the max angle whith sim_time and max_rotation_vel allow. More...

int	checkMaxDistance (tf::Stamped< tf::Pose > current_pose)
	Goes along global plan the max distance whith sim_time and max_x_vel allow. More...

int	driveToward (tf::Stamped< tf::Pose > current_pose, geometry_msgs::Twist &cmd_vel)
	Drive along the global plan and calculate the velocity. More...

void	publishPlan (int max_point)
	Publish the global plan for visulatation. More...

void	reconfigureCB (FTCPlannerConfig &config, uint32_t level)
	Reconfigure config_. More...

bool	rotateToOrientation (double angle, geometry_msgs::Twist &cmd_vel, double accuracy)
	Rotation at place. More...

Private Attributes
double	cmd_vel_angular_z_

double	cmd_vel_angular_z_rotate_

double	cmd_vel_linear_x_

ftc_local_planner::FTCPlannerConfig	config_

costmap_2d::Costmap2DROS *	costmap_ros_

ftc_local_planner::FTCPlannerConfig	default_config_

dynamic_reconfigure::Server< FTCPlannerConfig > *	dsrv_

bool	first_setPlan_

std::vector< geometry_msgs::PoseStamped >	global_plan_

tf::Stamped< tf::Pose >	goal_pose_

bool	goal_reached_

JoinCostmap *	joinCostmap_

ros::Publisher	local_plan_publisher_

tf::Stamped< tf::Pose >	old_goal_pose_

bool	rotate_to_global_plan_

bool	stand_at_goal_

tf2_ros::Buffer *	tf_

std::vector< geometry_msgs::PoseStamped >	transformed_global_plan_

Additional Inherited Members
Protected Member Functions inherited from nav_core::BaseLocalPlanner
	BaseLocalPlanner ()

Detailed Description

Definition at line 42 of file ftc_planner.h.

Constructor & Destructor Documentation

◆ FTCPlanner()

ftc_local_planner::FTCPlanner::FTCPlanner ( )

Definition at line 29 of file ftc_planner.cpp.

◆ ~FTCPlanner()

ftc_local_planner::FTCPlanner::~FTCPlanner ( )

Definition at line 521 of file ftc_planner.cpp.

Member Function Documentation

◆ calculateGlobalPlanAngle()

double ftc_local_planner::FTCPlanner::calculateGlobalPlanAngle	(	tf::Stamped< tf::Pose >	current_pose,
		const std::vector< geometry_msgs::PoseStamped > &	plan,
		int	points
	)

private

Calculate the orientation of the global plan.

Parameters

current	robot pose
global	plan
number	of points which used for calculation

Definition at line 233 of file ftc_planner.cpp.

◆ checkCollision()

bool ftc_local_planner::FTCPlanner::checkCollision ( int max_points )

private

Check if the considerd points are in local collision.

Parameters

points of global plan which are considerd.

Returns: true if no collision.

Definition at line 462 of file ftc_planner.cpp.

◆ checkMaxAngle()

int ftc_local_planner::FTCPlanner::checkMaxAngle	(	int	points,
		tf::Stamped< tf::Pose >	current_pose
	)

private

Goes backward along global plan the max angle whith sim_time and max_rotation_vel allow.

Parameters

point	where starts to go backward
current	pose of the robot

Returns: max point of the global plan with can reached

Definition at line 215 of file ftc_planner.cpp.

◆ checkMaxDistance()

int ftc_local_planner::FTCPlanner::checkMaxDistance ( tf::Stamped< tf::Pose > current_pose )

private

Goes along global plan the max distance whith sim_time and max_x_vel allow.

Parameters

current pose of the robot

Returns: max point of the global plan with can reached

Definition at line 184 of file ftc_planner.cpp.

◆ computeVelocityCommands()

bool ftc_local_planner::FTCPlanner::computeVelocityCommands ( geometry_msgs::Twist & cmd_vel )

virtual

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.

Parameters

cmd_vel Will be filled with the velocity command to be passed to the robot base

Returns: True if a valid velocity command was found, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 107 of file ftc_planner.cpp.

◆ driveToward()

int ftc_local_planner::FTCPlanner::driveToward	(	tf::Stamped< tf::Pose >	current_pose,
		geometry_msgs::Twist &	cmd_vel
	)

private

Drive along the global plan and calculate the velocity.

Parameters

current	pose of the robot
velocity	message

Returns: number of points of global plan which are used

Definition at line 344 of file ftc_planner.cpp.

◆ initialize()

void ftc_local_planner::FTCPlanner::initialize	(	std::string	name,
		tf2_ros::Buffer *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

virtual

Constructs the local planner.

Parameters

name	The name to give this instance of the local planner
tf	A pointer to a transform buffer
costmap_ros	The cost map to use for assigning costs to local plans

Implements nav_core::BaseLocalPlanner.

Definition at line 33 of file ftc_planner.cpp.

◆ isGoalReached()

bool ftc_local_planner::FTCPlanner::isGoalReached ( )

virtual

Check if the goal pose has been achieved by the local planner.

Returns: True if achieved, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 453 of file ftc_planner.cpp.

◆ publishPlan()

void ftc_local_planner::FTCPlanner::publishPlan ( int max_point )

private

Publish the global plan for visulatation.

Parameters

points where jused to calculate plan.

Definition at line 497 of file ftc_planner.cpp.

◆ reconfigureCB()

void ftc_local_planner::FTCPlanner::reconfigureCB	(	FTCPlannerConfig &	config,
		uint32_t	level
	)

private

Reconfigure config_.

Definition at line 57 of file ftc_planner.cpp.

◆ rotateToOrientation()

bool ftc_local_planner::FTCPlanner::rotateToOrientation	(	double	angle,
		geometry_msgs::Twist &	cmd_vel,
		double	accuracy
	)

private

Rotation at place.

Parameters

angle	which is to rotate
velocity	message which is calculate for rotation
accuracy	of orientation

Returns: true if rotate, false if rotation goal reached

Definition at line 258 of file ftc_planner.cpp.

◆ setPlan()

bool ftc_local_planner::FTCPlanner::setPlan ( const std::vector< geometry_msgs::PoseStamped > & plan )

virtual

Set the plan that the local planner is following.

Parameters

plan	The plan to pass to the local planner

Returns: True if the plan was updated successfully, false otherwise

Implements nav_core::BaseLocalPlanner.

Definition at line 67 of file ftc_planner.cpp.

Member Data Documentation

◆ cmd_vel_angular_z_

double ftc_local_planner::FTCPlanner::cmd_vel_angular_z_

private

Definition at line 171 of file ftc_planner.h.

◆ cmd_vel_angular_z_rotate_

double ftc_local_planner::FTCPlanner::cmd_vel_angular_z_rotate_

private

Definition at line 167 of file ftc_planner.h.

◆ cmd_vel_linear_x_

double ftc_local_planner::FTCPlanner::cmd_vel_linear_x_

private

Definition at line 169 of file ftc_planner.h.

◆ config_

ftc_local_planner::FTCPlannerConfig ftc_local_planner::FTCPlanner::config_

private

Definition at line 158 of file ftc_planner.h.

◆ costmap_ros_

costmap_2d::Costmap2DROS* ftc_local_planner::FTCPlanner::costmap_ros_

private

Definition at line 140 of file ftc_planner.h.

◆ default_config_

ftc_local_planner::FTCPlannerConfig ftc_local_planner::FTCPlanner::default_config_

private

Definition at line 156 of file ftc_planner.h.

◆ dsrv_

dynamic_reconfigure::Server<FTCPlannerConfig>* ftc_local_planner::FTCPlanner::dsrv_

private

Definition at line 154 of file ftc_planner.h.

◆ first_setPlan_

bool ftc_local_planner::FTCPlanner::first_setPlan_

private

Definition at line 146 of file ftc_planner.h.

◆ global_plan_

std::vector<geometry_msgs::PoseStamped> ftc_local_planner::FTCPlanner::global_plan_

private

Definition at line 142 of file ftc_planner.h.

◆ goal_pose_

tf::Stamped<tf::Pose> ftc_local_planner::FTCPlanner::goal_pose_

private

Definition at line 148 of file ftc_planner.h.

◆ goal_reached_

bool ftc_local_planner::FTCPlanner::goal_reached_

private

Definition at line 160 of file ftc_planner.h.

◆ joinCostmap_

JoinCostmap* ftc_local_planner::FTCPlanner::joinCostmap_

private

Definition at line 173 of file ftc_planner.h.

◆ local_plan_publisher_

ros::Publisher ftc_local_planner::FTCPlanner::local_plan_publisher_

private

Definition at line 164 of file ftc_planner.h.

◆ old_goal_pose_

tf::Stamped<tf::Pose> ftc_local_planner::FTCPlanner::old_goal_pose_

private

Definition at line 150 of file ftc_planner.h.

◆ rotate_to_global_plan_

bool ftc_local_planner::FTCPlanner::rotate_to_global_plan_

private

Definition at line 152 of file ftc_planner.h.

◆ stand_at_goal_

bool ftc_local_planner::FTCPlanner::stand_at_goal_

private

Definition at line 162 of file ftc_planner.h.

◆ tf_

tf2_ros::Buffer* ftc_local_planner::FTCPlanner::tf_

private

Definition at line 138 of file ftc_planner.h.

◆ transformed_global_plan_

std::vector<geometry_msgs::PoseStamped> ftc_local_planner::FTCPlanner::transformed_global_plan_

private

Definition at line 144 of file ftc_planner.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FTCPlanner()

◆ ~FTCPlanner()

Member Function Documentation

◆ calculateGlobalPlanAngle()

◆ checkCollision()

◆ checkMaxAngle()

◆ checkMaxDistance()

◆ computeVelocityCommands()

◆ driveToward()

◆ initialize()

◆ isGoalReached()

◆ publishPlan()

◆ reconfigureCB()

◆ rotateToOrientation()

◆ setPlan()

Member Data Documentation

◆ cmd_vel_angular_z_

◆ cmd_vel_angular_z_rotate_

◆ cmd_vel_linear_x_

◆ config_

◆ costmap_ros_

◆ default_config_

◆ dsrv_

◆ first_setPlan_

◆ global_plan_

◆ goal_pose_

◆ goal_reached_

◆ joinCostmap_

◆ local_plan_publisher_

◆ old_goal_pose_

◆ rotate_to_global_plan_

◆ stand_at_goal_

◆ tf_

◆ transformed_global_plan_