Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
pose_base_controller::PoseBaseController Class Reference

#include <pose_base_controller.h>

Public Member Functions

bool controlLoop (const move_base_msgs::MoveBaseGoal &current_goal)
 
geometry_msgs::Twist diff2D (const tf2::Transform &pose1, const tf2::Transform &pose2)
 
void execute (const move_base_msgs::MoveBaseGoalConstPtr &user_goal)
 
tf2::Stamped< tf2::Transform > getRobotPose ()
 
move_base_msgs::MoveBaseGoal goalToFixedFrame (const move_base_msgs::MoveBaseGoal &goal)
 
double headingDiff (double pt_x, double pt_y, double x, double y, double heading)
 
geometry_msgs::Twist limitTwist (const geometry_msgs::Twist &twist)
 
 PoseBaseController ()
 
double sign (double n)
 
 ~PoseBaseController ()
 

Private Types

typedef actionlib::SimpleActionServer< move_base_msgs::MoveBaseAction > MoveBaseActionServer
 

Private Member Functions

void odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
 
bool stopped ()
 

Private Attributes

MoveBaseActionServer action_server_
 
std::string base_frame_
 
nav_msgs::Odometry base_odom_
 
std::string fixed_frame_
 
double freq_
 
bool holonomic_
 
double in_place_trans_vel_
 
double K_rot_
 
double K_trans_
 
double max_vel_lin_
 
double max_vel_th_
 
double min_in_place_vel_th_
 
double min_vel_lin_
 
double min_vel_th_
 
boost::mutex odom_lock_
 
ros::Subscriber odom_sub_
 
double rot_stopped_velocity_
 
tf2_ros::Buffer tf_
 
tf2_ros::TransformListener tfl_
 
double tolerance_rot_
 
double tolerance_timeout_
 
double tolerance_trans_
 
double trans_stopped_velocity_
 
double transform_tolerance_
 
ros::Publisher vel_pub_
 

Detailed Description

Definition at line 56 of file pose_base_controller.h.

Member Typedef Documentation

◆ MoveBaseActionServer

typedef actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> pose_base_controller::PoseBaseController::MoveBaseActionServer
private

Definition at line 58 of file pose_base_controller.h.

Constructor & Destructor Documentation

◆ PoseBaseController()

pose_base_controller::PoseBaseController::PoseBaseController ( )

Definition at line 40 of file pose_base_controller.cpp.

◆ ~PoseBaseController()

pose_base_controller::PoseBaseController::~PoseBaseController ( )
inline

Definition at line 63 of file pose_base_controller.h.

Member Function Documentation

◆ controlLoop()

bool pose_base_controller::PoseBaseController::controlLoop ( const move_base_msgs::MoveBaseGoal &  current_goal)

Definition at line 179 of file pose_base_controller.cpp.

◆ diff2D()

geometry_msgs::Twist pose_base_controller::PoseBaseController::diff2D ( const tf2::Transform &  pose1,
const tf2::Transform &  pose2 
)

Definition at line 238 of file pose_base_controller.cpp.

◆ execute()

void pose_base_controller::PoseBaseController::execute ( const move_base_msgs::MoveBaseGoalConstPtr &  user_goal)

Definition at line 139 of file pose_base_controller.cpp.

◆ getRobotPose()

tf2::Stamped< tf2::Transform > pose_base_controller::PoseBaseController::getRobotPose ( )

Definition at line 105 of file pose_base_controller.cpp.

◆ goalToFixedFrame()

move_base_msgs::MoveBaseGoal pose_base_controller::PoseBaseController::goalToFixedFrame ( const move_base_msgs::MoveBaseGoal &  goal)

Definition at line 118 of file pose_base_controller.cpp.

◆ headingDiff()

double pose_base_controller::PoseBaseController::headingDiff ( double  pt_x,
double  pt_y,
double  x,
double  y,
double  heading 
)

Definition at line 89 of file pose_base_controller.cpp.

◆ limitTwist()

geometry_msgs::Twist pose_base_controller::PoseBaseController::limitTwist ( const geometry_msgs::Twist &  twist)

Definition at line 281 of file pose_base_controller.cpp.

◆ odomCallback()

void pose_base_controller::PoseBaseController::odomCallback ( const nav_msgs::Odometry::ConstPtr &  msg)
private

Definition at line 79 of file pose_base_controller.cpp.

◆ sign()

double pose_base_controller::PoseBaseController::sign ( double  n)
inline

Definition at line 69 of file pose_base_controller.h.

◆ stopped()

bool pose_base_controller::PoseBaseController::stopped ( )
private

Definition at line 166 of file pose_base_controller.cpp.

Member Data Documentation

◆ action_server_

MoveBaseActionServer pose_base_controller::PoseBaseController::action_server_
private

Definition at line 82 of file pose_base_controller.h.

◆ base_frame_

std::string pose_base_controller::PoseBaseController::base_frame_
private

Definition at line 92 of file pose_base_controller.h.

◆ base_odom_

nav_msgs::Odometry pose_base_controller::PoseBaseController::base_odom_
private

Definition at line 96 of file pose_base_controller.h.

◆ fixed_frame_

std::string pose_base_controller::PoseBaseController::fixed_frame_
private

Definition at line 92 of file pose_base_controller.h.

◆ freq_

double pose_base_controller::PoseBaseController::freq_
private

Definition at line 87 of file pose_base_controller.h.

◆ holonomic_

bool pose_base_controller::PoseBaseController::holonomic_
private

Definition at line 93 of file pose_base_controller.h.

◆ in_place_trans_vel_

double pose_base_controller::PoseBaseController::in_place_trans_vel_
private

Definition at line 90 of file pose_base_controller.h.

◆ K_rot_

double pose_base_controller::PoseBaseController::K_rot_
private

Definition at line 86 of file pose_base_controller.h.

◆ K_trans_

double pose_base_controller::PoseBaseController::K_trans_
private

Definition at line 86 of file pose_base_controller.h.

◆ max_vel_lin_

double pose_base_controller::PoseBaseController::max_vel_lin_
private

Definition at line 88 of file pose_base_controller.h.

◆ max_vel_th_

double pose_base_controller::PoseBaseController::max_vel_th_
private

Definition at line 88 of file pose_base_controller.h.

◆ min_in_place_vel_th_

double pose_base_controller::PoseBaseController::min_in_place_vel_th_
private

Definition at line 90 of file pose_base_controller.h.

◆ min_vel_lin_

double pose_base_controller::PoseBaseController::min_vel_lin_
private

Definition at line 89 of file pose_base_controller.h.

◆ min_vel_th_

double pose_base_controller::PoseBaseController::min_vel_th_
private

Definition at line 89 of file pose_base_controller.h.

◆ odom_lock_

boost::mutex pose_base_controller::PoseBaseController::odom_lock_
private

Definition at line 94 of file pose_base_controller.h.

◆ odom_sub_

ros::Subscriber pose_base_controller::PoseBaseController::odom_sub_
private

Definition at line 95 of file pose_base_controller.h.

◆ rot_stopped_velocity_

double pose_base_controller::PoseBaseController::rot_stopped_velocity_
private

Definition at line 97 of file pose_base_controller.h.

◆ tf_

tf2_ros::Buffer pose_base_controller::PoseBaseController::tf_
private

Definition at line 83 of file pose_base_controller.h.

◆ tfl_

tf2_ros::TransformListener pose_base_controller::PoseBaseController::tfl_
private

Definition at line 84 of file pose_base_controller.h.

◆ tolerance_rot_

double pose_base_controller::PoseBaseController::tolerance_rot_
private

Definition at line 86 of file pose_base_controller.h.

◆ tolerance_timeout_

double pose_base_controller::PoseBaseController::tolerance_timeout_
private

Definition at line 87 of file pose_base_controller.h.

◆ tolerance_trans_

double pose_base_controller::PoseBaseController::tolerance_trans_
private

Definition at line 86 of file pose_base_controller.h.

◆ trans_stopped_velocity_

double pose_base_controller::PoseBaseController::trans_stopped_velocity_
private

Definition at line 97 of file pose_base_controller.h.

◆ transform_tolerance_

double pose_base_controller::PoseBaseController::transform_tolerance_
private

Definition at line 91 of file pose_base_controller.h.

◆ vel_pub_

ros::Publisher pose_base_controller::PoseBaseController::vel_pub_
private

Definition at line 85 of file pose_base_controller.h.

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

pose_base_controller
Author(s): Eitan Marder-Eppstein
autogenerated on Sat Aug 27 2022 02:54:14