eband_local_planner Namespace Reference

Classes
struct	Bubble
	< More...
class	EBandPlanner
	Implements the Elastic Band Method for SE2-Manifold (mobile Base) More...
class	EBandPlannerROS
	Plugin to the ros base_local_planner. Implements a wrapper for the Elastic Band Method. More...
class	EBandTrajectoryCtrl
class	EBandVisualization

Enumerations
enum	AddAtPosition { add_front, add_back }

Functions
double	angularDiff (const geometry_msgs::Twist &heading, const geometry_msgs::Pose &pose)
double	getCircumscribedRadius (costmap_2d::Costmap2DROS &costmap)
	Gets the footprint of the robot and computes the circumscribed radius for the eband approach. More...
void	Pose2DToPose (geometry_msgs::Pose &pose, const geometry_msgs::Pose2D pose2D)
	Converts a frame of type Pose to type Pose2D (mainly -> conversion of orientation from euler angles to quaternions, -> z-coordinate is set to zero) More...
void	PoseToPose2D (const geometry_msgs::Pose pose, geometry_msgs::Pose2D &pose2D)
	Converts a frame of type Pose to type Pose2D (mainly -> conversion of orientation from quaternions to euler angles) More...
bool	transformGlobalPlan (const tf2_ros::Buffer &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, costmap_2d::Costmap2DROS &costmap, const std::string &global_frame, std::vector< geometry_msgs::PoseStamped > &transformed_plan, std::vector< int > &start_end_counts_from_end)
	Transforms the global plan of the robot from the planner frame to the local frame. This replaces the transformGlobalPlan as defined in the base_local_planner/goal_functions.h main difference is that it additionally outputs counter indicating which part of the plan has been transformed. More...

Enumeration Type Documentation

AddAtPosition

enum eband_local_planner::AddAtPosition

Enumerator
add_front
add_back

Definition at line 78 of file conversions_and_types.h.

Function Documentation

angularDiff()

double eband_local_planner::angularDiff	(	const geometry_msgs::Twist &	heading,
		const geometry_msgs::Pose &	pose
	)

Definition at line 160 of file eband_trajectory_controller.cpp.

getCircumscribedRadius()

double eband_local_planner::getCircumscribedRadius

(

costmap_2d::Costmap2DROS &

costmap

)

Gets the footprint of the robot and computes the circumscribed radius for the eband approach.

Parameters

costmap

A reference to the costmap from which the radius is computed

Returns

radius in meters

Definition at line 212 of file conversions_and_types.cpp.

Pose2DToPose()

void eband_local_planner::Pose2DToPose	(	geometry_msgs::Pose &	pose,
		const geometry_msgs::Pose2D	pose2D
	)

Converts a frame of type Pose to type Pose2D (mainly -> conversion of orientation from euler angles to quaternions, -> z-coordinate is set to zero)

Parameters

References	to converted ROS Pose2D frame
Pose2D	which shall be converted

Definition at line 65 of file conversions_and_types.cpp.

PoseToPose2D()

void eband_local_planner::PoseToPose2D	(	const geometry_msgs::Pose	pose,
		geometry_msgs::Pose2D &	pose2D
	)

Converts a frame of type Pose to type Pose2D (mainly -> conversion of orientation from quaternions to euler angles)

Parameters

Pose	which shall be converted
References	to converted ROS Pose2D frmae

Definition at line 42 of file conversions_and_types.cpp.

transformGlobalPlan()

bool eband_local_planner::transformGlobalPlan	(	const tf2_ros::Buffer &	tf,
		const std::vector< geometry_msgs::PoseStamped > &	global_plan,
		costmap_2d::Costmap2DROS &	costmap,
		const std::string &	global_frame,
		std::vector< geometry_msgs::PoseStamped > &	transformed_plan,
		std::vector< int > &	start_end_counts_from_end
	)

Transforms the global plan of the robot from the planner frame to the local frame. This replaces the transformGlobalPlan as defined in the base_local_planner/goal_functions.h main difference is that it additionally outputs counter indicating which part of the plan has been transformed.

Parameters

tf	A reference to a transform listener
global_plan	The plan to be transformed
costmap	A reference to the costmap being used so the window size for transforming can be computed
global_frame	The frame to transform the plan to
transformed_plan	Populated with the transformed plan
number	of start and end frame counted from the end of the global plan

Definition at line 87 of file conversions_and_types.cpp.