#include <twist_recovery.h>

Inheritance diagram for twist_recovery::TwistRecovery:

Public Member Functions
void	initialize (std::string n, tf2_ros::Buffer tf, costmap_2d::Costmap2DROS global_costmap, costmap_2d::Costmap2DROS *local_costmap)
	Initialize the parameters of the behavior. More...

void	runBehavior ()
	Run the behavior. More...

	TwistRecovery ()
	Doesn't do anything: initialize is where the actual work happens. More...

	~TwistRecovery ()

Public Member Functions inherited from nav_core::RecoveryBehavior
virtual	~RecoveryBehavior ()

Private Member Functions
geometry_msgs::Pose2D	getCurrentLocalPose () const

double	nonincreasingCostInterval (const geometry_msgs::Pose2D &current, const geometry_msgs::Twist &twist) const

double	normalizedPoseCost (const geometry_msgs::Pose2D &pose) const
	Return the cost of a pose, modified so that -1 does not equal infinity; instead 1e9 does. More...

geometry_msgs::Twist	scaleGivenAccelerationLimits (const geometry_msgs::Twist &twist, const double time_remaining) const

geometry_msgs::Twist	transformTwist (const geometry_msgs::Pose2D &pose) const

Private Attributes
double	angular_acceleration_limit_

double	angular_speed_limit_

geometry_msgs::Twist	base_frame_twist_

double	controller_frequency_

double	duration_

costmap_2d::Costmap2DROS *	global_costmap_

bool	initialized_

double	linear_acceleration_limit_

double	linear_speed_limit_

costmap_2d::Costmap2DROS *	local_costmap_

std::string	name_

ros::NodeHandle	nh_

ros::Publisher	pub_

double	simulation_inc_

tf2_ros::Buffer *	tf_

base_local_planner::CostmapModel *	world_model_

Additional Inherited Members
Protected Member Functions inherited from nav_core::RecoveryBehavior
	RecoveryBehavior ()

Detailed Description

Recovery behavior that takes a given twist and tries to execute it for up to d seconds, or until reaching an obstacle.

Definition at line 55 of file twist_recovery.h.

Constructor & Destructor Documentation

◆ TwistRecovery()

twist_recovery::TwistRecovery::TwistRecovery ( )

Doesn't do anything: initialize is where the actual work happens.

Definition at line 55 of file twist_recovery.cpp.

◆ ~TwistRecovery()

twist_recovery::TwistRecovery::~TwistRecovery ( )

Definition at line 59 of file twist_recovery.cpp.

Member Function Documentation

◆ getCurrentLocalPose()

gm::Pose2D twist_recovery::TwistRecovery::getCurrentLocalPose ( ) const

private

Definition at line 174 of file twist_recovery.cpp.

◆ initialize()

void twist_recovery::TwistRecovery::initialize	(	std::string	n,
		tf2_ros::Buffer *	tf,
		costmap_2d::Costmap2DROS *	global_costmap,
		costmap_2d::Costmap2DROS *	local_costmap
	)

virtual

Initialize the parameters of the behavior.

Implements nav_core::RecoveryBehavior.

Definition at line 64 of file twist_recovery.cpp.

◆ nonincreasingCostInterval()

double twist_recovery::TwistRecovery::nonincreasingCostInterval	(	const geometry_msgs::Pose2D &	current,
		const geometry_msgs::Twist &	twist
	)		const

private

Return the maximum d <= duration_ such that starting at the current pose, the cost is nonincreasing for d seconds if we follow twist It might also be good to have a threshold such that we're allowed to have lethal cost for at most the first k of those d seconds, but this is not done

Definition at line 132 of file twist_recovery.cpp.

◆ normalizedPoseCost()

double twist_recovery::TwistRecovery::normalizedPoseCost ( const geometry_msgs::Pose2D & pose ) const

private

Return the cost of a pose, modified so that -1 does not equal infinity; instead 1e9 does.

Definition at line 121 of file twist_recovery.cpp.

◆ runBehavior()

void twist_recovery::TwistRecovery::runBehavior ( )

virtual

Run the behavior.

Implements nav_core::RecoveryBehavior.

Definition at line 185 of file twist_recovery.cpp.

◆ scaleGivenAccelerationLimits()

gm::Twist twist_recovery::TwistRecovery::scaleGivenAccelerationLimits	(	const geometry_msgs::Twist &	twist,
		const double	time_remaining
	)		const

private

Definition at line 160 of file twist_recovery.cpp.

◆ transformTwist()

geometry_msgs::Twist twist_recovery::TwistRecovery::transformTwist ( const geometry_msgs::Pose2D & pose ) const

private

Member Data Documentation

◆ angular_acceleration_limit_

double twist_recovery::TwistRecovery::angular_acceleration_limit_

private

Definition at line 98 of file twist_recovery.h.

◆ angular_speed_limit_

double twist_recovery::TwistRecovery::angular_speed_limit_

private

Definition at line 96 of file twist_recovery.h.

◆ base_frame_twist_

geometry_msgs::Twist twist_recovery::TwistRecovery::base_frame_twist_

private

Definition at line 92 of file twist_recovery.h.

◆ controller_frequency_

double twist_recovery::TwistRecovery::controller_frequency_

private

Definition at line 99 of file twist_recovery.h.

◆ duration_

double twist_recovery::TwistRecovery::duration_

private

Definition at line 94 of file twist_recovery.h.

◆ global_costmap_

costmap_2d::Costmap2DROS* twist_recovery::TwistRecovery::global_costmap_

private

Definition at line 81 of file twist_recovery.h.

◆ initialized_

bool twist_recovery::TwistRecovery::initialized_

private

Definition at line 86 of file twist_recovery.h.

◆ linear_acceleration_limit_

double twist_recovery::TwistRecovery::linear_acceleration_limit_

private

Definition at line 97 of file twist_recovery.h.

◆ linear_speed_limit_

double twist_recovery::TwistRecovery::linear_speed_limit_

private

Definition at line 95 of file twist_recovery.h.

◆ local_costmap_

costmap_2d::Costmap2DROS* twist_recovery::TwistRecovery::local_costmap_

private

Definition at line 82 of file twist_recovery.h.

◆ name_

std::string twist_recovery::TwistRecovery::name_

private

Definition at line 83 of file twist_recovery.h.

◆ nh_

ros::NodeHandle twist_recovery::TwistRecovery::nh_

private

Definition at line 80 of file twist_recovery.h.

◆ pub_

ros::Publisher twist_recovery::TwistRecovery::pub_

private

Definition at line 85 of file twist_recovery.h.

◆ simulation_inc_

double twist_recovery::TwistRecovery::simulation_inc_

private

Definition at line 100 of file twist_recovery.h.

◆ tf_

tf2_ros::Buffer* twist_recovery::TwistRecovery::tf_

private

Definition at line 84 of file twist_recovery.h.

◆ world_model_

base_local_planner::CostmapModel* twist_recovery::TwistRecovery::world_model_

mutableprivate

Definition at line 90 of file twist_recovery.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TwistRecovery()

◆ ~TwistRecovery()

Member Function Documentation

◆ getCurrentLocalPose()

◆ initialize()

◆ nonincreasingCostInterval()

◆ normalizedPoseCost()

◆ runBehavior()

◆ scaleGivenAccelerationLimits()

◆ transformTwist()

Member Data Documentation

◆ angular_acceleration_limit_

◆ angular_speed_limit_

◆ base_frame_twist_

◆ controller_frequency_

◆ duration_

◆ global_costmap_

◆ initialized_

◆ linear_acceleration_limit_

◆ linear_speed_limit_

◆ local_costmap_

◆ name_

◆ nh_

◆ pub_

◆ simulation_inc_

◆ tf_

◆ world_model_