BaseController Class Reference

#include <controller.h>

Public Member Functions
bool	approach (const geometry_msgs::PoseStamped &target)
	Implements something loosely based on "A Smooth Control Law for Graceful Motion of Differential Wheeled Mobile Robots in 2D Environments" by Park and Kuipers, ICRA 2011. More...
bool	backup (double distance, double rotate_distance)
	Back off dock, then rotate. Robot is first reversed by the prescribed distance, and then rotates with respect to it's current orientation. More...
	BaseController (ros::NodeHandle &nh)
bool	getCommand (geometry_msgs::Twist &command)
	Get the last command sent. More...
void	stop ()
	send stop command to robot base More...

Private Attributes
double	beta_
ros::Publisher	cmd_vel_pub_
geometry_msgs::Twist	command_
double	dist_
double	k1_
double	k2_
double	lambda_
tf::TransformListener	listener_
double	max_angular_velocity_
double	max_velocity_
double	min_velocity_
ros::Publisher	path_pub_
bool	ready_
geometry_msgs::PoseStamped	start_
bool	turning_

Detailed Description

Definition at line 27 of file controller.h.

Constructor & Destructor Documentation

BaseController()

BaseController::BaseController ( ros::NodeHandle &  nh )

explicit

Definition at line 28 of file controller.cpp.

Member Function Documentation

approach()

bool BaseController::approach

(

const geometry_msgs::PoseStamped &

target

)

Implements something loosely based on "A Smooth Control Law for Graceful Motion of Differential Wheeled Mobile Robots in 2D Environments" by Park and Kuipers, ICRA 2011.

Returns

true if base has reached goal.

Definition at line 44 of file controller.cpp.

backup()

bool BaseController::backup	(	double	distance,
		double	rotate_distance
	)

Back off dock, then rotate. Robot is first reversed by the prescribed distance, and then rotates with respect to it's current orientation.

Parameters

distance	Distance in meters to backup.
rotate_distance	Amount of angle in radians for the robot to yaw.

Definition at line 173 of file controller.cpp.

getCommand()

bool BaseController::getCommand

(

geometry_msgs::Twist &

command

)

Get the last command sent.

Definition at line 263 of file controller.cpp.

stop()

void BaseController::stop

(

)

send stop command to robot base

Definition at line 269 of file controller.cpp.

Member Data Documentation

beta_

double BaseController::beta_

private

Definition at line 72 of file controller.h.

cmd_vel_pub_

ros::Publisher BaseController::cmd_vel_pub_

private

Definition at line 58 of file controller.h.

command_

geometry_msgs::Twist BaseController::command_

private

Definition at line 62 of file controller.h.

dist_

double BaseController::dist_

private

Definition at line 74 of file controller.h.

k1_

double BaseController::k1_

private

Definition at line 67 of file controller.h.

k2_

double BaseController::k2_

private

Definition at line 68 of file controller.h.

lambda_

double BaseController::lambda_

private

Definition at line 73 of file controller.h.

listener_

tf::TransformListener BaseController::listener_

private

Definition at line 61 of file controller.h.

max_angular_velocity_

double BaseController::max_angular_velocity_

private

Definition at line 71 of file controller.h.

max_velocity_

double BaseController::max_velocity_

private

Definition at line 70 of file controller.h.

min_velocity_

double BaseController::min_velocity_

private

Definition at line 69 of file controller.h.

path_pub_

ros::Publisher BaseController::path_pub_

private

Definition at line 59 of file controller.h.

ready_

bool BaseController::ready_

private

Definition at line 80 of file controller.h.

start_

geometry_msgs::PoseStamped BaseController::start_

private

Definition at line 79 of file controller.h.

turning_

bool BaseController::turning_

private

Definition at line 81 of file controller.h.

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

• controller.h
• controller.cpp