#include <auto_dock.h>
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| double | backupDistance () |
| | Method to compute the distance the robot should backup when attemping a docking correction. Method uses a number of state variables in the class to compute distance. TODO(enhancement): Should these be parameterized instead? More...
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| void | checkDockChargingConditions () |
| | Method to see if the robot seems to be docked but not charging. If the robot does seem to be docked and not charging, try will timeout and set abort condition. More...
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| bool | continueDocking (fetch_auto_dock_msgs::DockResult &result) |
| | Method that checks success or failure of docking. More...
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| void | dockCallback (const fetch_auto_dock_msgs::DockGoalConstPtr &goal) |
| | Method to execute the docking behavior. More...
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| void | executeBackupSequence (ros::Rate &r) |
| | Method to back the robot up under the abort conditon. Once complete, the method resets the abort flag. Robot will backup slightly, straighten out, backup a good distance, and then reorient. Method is blocking. More...
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| void | initDockTimeout () |
| | Method sets the docking deadline and number of retries. More...
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| bool | isApproachBad (double &dock_yaw) |
| | Method to check approach abort conditions. If we are close to the dock but the robot is too far off side-to-side or at a bad angle, it should abort. Method also returns through the parameter the orientation of the dock wrt the robot for use in correction behaviors. More...
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| bool | isDockingTimedOut () |
| | Method checks to see if we have run out of time or retries. More...
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| bool | lockoutCharger (unsigned seconds) |
| | Method to disable the charger for a finite amount of time. More...
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| void | stateCallback (const fetch_driver_msgs::RobotStateConstPtr &state) |
| | Method to update the robot charge state. More...
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| void | undockCallback (const fetch_auto_dock_msgs::UndockGoalConstPtr &goal) |
| | Method to execute the undocking behavior. More...
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Definition at line 37 of file auto_dock.h.
◆ charge_lockout_client_t
◆ dock_server_t
◆ undock_server_t
◆ AutoDocking()
| AutoDocking::AutoDocking |
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Autodocking constructor. Object builds action servers for docking and undocking.
Definition at line 28 of file auto_dock.cpp.
◆ ~AutoDocking()
| AutoDocking::~AutoDocking |
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◆ backupDistance()
| double AutoDocking::backupDistance |
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Method to compute the distance the robot should backup when attemping a docking correction. Method uses a number of state variables in the class to compute distance. TODO(enhancement): Should these be parameterized instead?
- Returns
- Distance for robot to backup in meters.
Definition at line 325 of file auto_dock.cpp.
◆ checkDockChargingConditions()
| void AutoDocking::checkDockChargingConditions |
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Method to see if the robot seems to be docked but not charging. If the robot does seem to be docked and not charging, try will timeout and set abort condition.
Definition at line 233 of file auto_dock.cpp.
◆ continueDocking()
| bool AutoDocking::continueDocking |
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fetch_auto_dock_msgs::DockResult & |
result | ) |
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private |
Method that checks success or failure of docking.
- Parameters
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| result | Dock result message used to set the dock action server state. |
- Returns
- True if we have neither succeeded nor failed to dock.
Definition at line 199 of file auto_dock.cpp.
◆ dockCallback()
| void AutoDocking::dockCallback |
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const fetch_auto_dock_msgs::DockGoalConstPtr & |
goal | ) |
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Method to execute the docking behavior.
- Parameters
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| goal | Initial pose estimate of the dock. |
Definition at line 76 of file auto_dock.cpp.
◆ executeBackupSequence()
| void AutoDocking::executeBackupSequence |
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ros::Rate & |
r | ) |
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private |
Method to back the robot up under the abort conditon. Once complete, the method resets the abort flag. Robot will backup slightly, straighten out, backup a good distance, and then reorient. Method is blocking.
- Parameters
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| r | Rate object to control execution loop. |
Definition at line 294 of file auto_dock.cpp.
◆ initDockTimeout()
| void AutoDocking::initDockTimeout |
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private |
Method sets the docking deadline and number of retries.
Definition at line 267 of file auto_dock.cpp.
◆ isApproachBad()
| bool AutoDocking::isApproachBad |
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double & |
dock_yaw | ) |
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private |
Method to check approach abort conditions. If we are close to the dock but the robot is too far off side-to-side or at a bad angle, it should abort. Method also returns through the parameter the orientation of the dock wrt the robot for use in correction behaviors.
- Parameters
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| dock_yaw | Yaw angle of the dock wrt the robot in radians. |
- Returns
- True if the robot should abort the approach.
Definition at line 356 of file auto_dock.cpp.
◆ isDockingTimedOut()
| bool AutoDocking::isDockingTimedOut |
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private |
Method checks to see if we have run out of time or retries.
- Returns
- True if we are out of time or tries.
Definition at line 277 of file auto_dock.cpp.
◆ lockoutCharger()
| bool AutoDocking::lockoutCharger |
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unsigned |
seconds | ) |
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private |
Method to disable the charger for a finite amount of time.
- Parameters
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| seconds | Number of seconds to disable the charger for. Maximum number of seconds is 255. Zero seconds enables the charger. |
- Returns
- True if the number of seconds is valid and the lockout request was successful.
Definition at line 382 of file auto_dock.cpp.
◆ stateCallback()
| void AutoDocking::stateCallback |
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const fetch_driver_msgs::RobotStateConstPtr & |
state | ) |
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private |
Method to update the robot charge state.
- Parameters
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| state | Robot state message to extract charge state from. |
Definition at line 62 of file auto_dock.cpp.
◆ undockCallback()
| void AutoDocking::undockCallback |
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const fetch_auto_dock_msgs::UndockGoalConstPtr & |
goal | ) |
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private |
Method to execute the undocking behavior.
- Parameters
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| goal | Docking control action for rotating off of the goal. |
Definition at line 413 of file auto_dock.cpp.
◆ abort_angle_
| double AutoDocking::abort_angle_ |
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◆ abort_distance_
| double AutoDocking::abort_distance_ |
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◆ abort_threshold_
| double AutoDocking::abort_threshold_ |
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◆ aborting_
| bool AutoDocking::aborting_ |
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◆ backup_limit_
| double AutoDocking::backup_limit_ |
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◆ cancel_docking_
| bool AutoDocking::cancel_docking_ |
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◆ charge_lockout_
◆ charging_
| bool AutoDocking::charging_ |
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◆ charging_timeout_set_
| bool AutoDocking::charging_timeout_set_ |
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◆ controller_
◆ correction_angle_
| double AutoDocking::correction_angle_ |
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◆ deadline_docking_
◆ deadline_not_charging_
| ros::Time AutoDocking::deadline_not_charging_ |
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◆ dock_
◆ DOCK_CONNECTOR_CLEARANCE_DISTANCE_
| double AutoDocking::DOCK_CONNECTOR_CLEARANCE_DISTANCE_ |
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◆ DOCKED_DISTANCE_THRESHOLD_
| double AutoDocking::DOCKED_DISTANCE_THRESHOLD_ |
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◆ nh_
◆ NUM_OF_RETRIES_
| int AutoDocking::NUM_OF_RETRIES_ |
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private |
◆ num_of_retries_
| int AutoDocking::num_of_retries_ |
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◆ perception_
◆ state_
◆ undock_
The documentation for this class was generated from the following files: