#include <RobotOperator.h>
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| int | calculateFreeSpace (sensor_msgs::PointCloud *cloud) |
| | Calculates the distance the robot can move following the given trajectory. More...
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| double | evaluateAction (double direction, double velocity, bool debug=false) |
| | Calculate the action value of a given command. More...
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| double | findBestDirection () |
| | Evaluates all possible directions with a fixed resolution. More...
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| sensor_msgs::PointCloud * | getPointCloud (double direction, double velocity) |
| | Get the trajectory defined by the given movement command. More...
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| void | initTrajTable () |
| | Initializes look-up tables This calculates the trajectories of all possible direction commands. Must be called once before the Operator is used. More...
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- Author
- Sebastian Kasperski
- Date
- 03/25/14
Definition at line 32 of file RobotOperator.h.
◆ RobotOperator()
| RobotOperator::RobotOperator |
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| ) |
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◆ ~RobotOperator()
| RobotOperator::~RobotOperator |
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◆ calculateFreeSpace()
| int RobotOperator::calculateFreeSpace |
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sensor_msgs::PointCloud * |
cloud | ) |
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private |
Calculates the distance the robot can move following the given trajectory.
- Parameters
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| cloud | PointCloud defining a trajectory |
- Returns
- Nmber of free cells
Definition at line 364 of file RobotOperator.cpp.
◆ evaluateAction()
| double RobotOperator::evaluateAction |
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double |
direction, |
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double |
velocity, |
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bool |
debug = false |
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) |
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private |
Calculate the action value of a given command.
- Parameters
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| direction | How to move the robot |
| velocity | Only used to distinguish forward and backward motion |
| debug | Publish result of evaluation functions on debug topic |
- Returns
- Weighted sum of all evaluation functions The given action is rated by 4 different evaluation functions: Free Space: How far can the robot move following this command Safety: How close will it get near obstacles Conformance: How good does it follow the commanded direction Continuity: (experimental!) How does it conform with the last issued command
Definition at line 388 of file RobotOperator.cpp.
◆ executeCommand()
| void RobotOperator::executeCommand |
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| ) |
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Generates and sends Twist-Message to Robot This is the Operator's core function and should be called periodically.
Definition at line 200 of file RobotOperator.cpp.
◆ findBestDirection()
| double RobotOperator::findBestDirection |
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private |
Evaluates all possible directions with a fixed resolution.
- Returns
- Best evaluated direction
Definition at line 489 of file RobotOperator.cpp.
◆ getPointCloud()
| sensor_msgs::PointCloud * RobotOperator::getPointCloud |
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double |
direction, |
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double |
velocity |
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) |
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inlineprivate |
Get the trajectory defined by the given movement command.
- Parameters
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| direction | How to move the robot |
| velocity | Only used to distinguish forward and backward motion |
- Returns
- A pointer to the PointCloud defined in the robot coordinate frame
Definition at line 509 of file RobotOperator.cpp.
◆ initTrajTable()
| void RobotOperator::initTrajTable |
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| ) |
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private |
Initializes look-up tables This calculates the trajectories of all possible direction commands. Must be called once before the Operator is used.
Definition at line 65 of file RobotOperator.cpp.
◆ receiveCommand()
| void RobotOperator::receiveCommand |
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const nav2d_operator::cmd::ConstPtr & |
msg | ) |
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Callback function to receive move commands.
- Parameters
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| msg | Command-Message Direction [-1.0 .. 1.0]: -1(rotate left); 0(straight); 1(rotate right) Velocity [-1.0 .. 1.0]: -1(full speed back); 0(stop); 1(full speed ahead) Mode: 0(Avoid obstacles); 1(Stop at obstacles) |
Definition at line 182 of file RobotOperator.cpp.
◆ mCommandSubscriber
◆ mConformanceWeight
| int RobotOperator::mConformanceWeight |
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private |
◆ mContinueWeight
| int RobotOperator::mContinueWeight |
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private |
◆ mControlPublisher
◆ mCostmap
◆ mCostPublisher
◆ mCurrentDirection
| double RobotOperator::mCurrentDirection |
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private |
◆ mCurrentVelocity
| double RobotOperator::mCurrentVelocity |
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private |
◆ mDesiredDirection
| double RobotOperator::mDesiredDirection |
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private |
◆ mDesiredVelocity
| double RobotOperator::mDesiredVelocity |
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private |
◆ mDriveMode
| int RobotOperator::mDriveMode |
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private |
◆ mEscapeWeight
| int RobotOperator::mEscapeWeight |
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private |
◆ mLocalMap
◆ mMaxFreeSpace
| double RobotOperator::mMaxFreeSpace |
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private |
◆ mMaxVelocity
| double RobotOperator::mMaxVelocity |
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private |
◆ mOdometryFrame
| std::string RobotOperator::mOdometryFrame |
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private |
◆ mPlanPublisher
◆ mPublishRoute
| bool RobotOperator::mPublishRoute |
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private |
◆ mRasterSize
| double RobotOperator::mRasterSize |
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private |
◆ mRecoverySteps
| unsigned int RobotOperator::mRecoverySteps |
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private |
◆ mRobotFrame
| std::string RobotOperator::mRobotFrame |
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private |
◆ mSafetyDecay
| double RobotOperator::mSafetyDecay |
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private |
◆ mSafetyWeight
| int RobotOperator::mSafetyWeight |
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private |
◆ mTf2Buffer
◆ mTf2Listener
◆ mTfListener
◆ mTrajectoryPublisher
◆ mTrajTable
| sensor_msgs::PointCloud* RobotOperator::mTrajTable[(LUT_RESOLUTION *4)+2] |
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private |
The documentation for this class was generated from the following files: