#include <latched_stop_rotate_controller.h>

Public Member Functions
bool	computeVelocityCommandsStopRotate (geometry_msgs::Twist &cmd_vel, Eigen::Vector3f acc_lim, double sim_period, LocalPlannerUtil *planner_util, OdometryHelperRos &odom_helper, const geometry_msgs::PoseStamped &global_pose, boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)> obstacle_check)

bool	isGoalReached (LocalPlannerUtil *planner_util, OdometryHelperRos &odom_helper, const geometry_msgs::PoseStamped &global_pose)

bool	isPositionReached (LocalPlannerUtil *planner_util, const geometry_msgs::PoseStamped &global_pose)

	LatchedStopRotateController (const std::string &name="")

void	resetLatching ()

bool	rotateToGoal (const geometry_msgs::PoseStamped &global_pose, const geometry_msgs::PoseStamped &robot_vel, double goal_th, geometry_msgs::Twist &cmd_vel, Eigen::Vector3f acc_lim, double sim_period, base_local_planner::LocalPlannerLimits &limits, boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)> obstacle_check)
	Once a goal position is reached... rotate to the goal orientation. More...

bool	stopWithAccLimits (const geometry_msgs::PoseStamped &global_pose, const geometry_msgs::PoseStamped &robot_vel, geometry_msgs::Twist &cmd_vel, Eigen::Vector3f acc_lim, double sim_period, boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)> obstacle_check)
	Stop the robot taking into account acceleration limits. More...

virtual	~LatchedStopRotateController ()

Private Member Functions
double	sign (double x)

Private Attributes
bool	latch_xy_goal_tolerance_

bool	rotating_to_goal_

bool	xy_tolerance_latch_

Detailed Description

Definition at line 20 of file latched_stop_rotate_controller.h.

Constructor & Destructor Documentation

◆ LatchedStopRotateController()

base_local_planner::LatchedStopRotateController::LatchedStopRotateController ( const std::string & name = "" )

Definition at line 24 of file latched_stop_rotate_controller.cpp.

◆ ~LatchedStopRotateController()

base_local_planner::LatchedStopRotateController::~LatchedStopRotateController ( )

virtual

Definition at line 31 of file latched_stop_rotate_controller.cpp.

Member Function Documentation

◆ computeVelocityCommandsStopRotate()

bool base_local_planner::LatchedStopRotateController::computeVelocityCommandsStopRotate	(	geometry_msgs::Twist &	cmd_vel,
		Eigen::Vector3f	acc_lim,
		double	sim_period,
		LocalPlannerUtil *	planner_util,
		OdometryHelperRos &	odom_helper,
		const geometry_msgs::PoseStamped &	global_pose,
		boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)>	obstacle_check
	)

Definition at line 199 of file latched_stop_rotate_controller.cpp.

◆ isGoalReached()

bool base_local_planner::LatchedStopRotateController::isGoalReached	(	LocalPlannerUtil *	planner_util,
		OdometryHelperRos &	odom_helper,
		const geometry_msgs::PoseStamped &	global_pose
	)

returns true if we have passed the goal position and have reached goal orientation. Meaning we might have overshot on the position beyond tolerance, yet still return true.

Definition at line 66 of file latched_stop_rotate_controller.cpp.

◆ isPositionReached()

bool base_local_planner::LatchedStopRotateController::isPositionReached	(	LocalPlannerUtil *	planner_util,
		const geometry_msgs::PoseStamped &	global_pose
	)

returns true if we have passed the goal position. Meaning we might have overshot on the position beyond tolerance, yet still return true. Also goal orientation might not yet be true

Definition at line 39 of file latched_stop_rotate_controller.cpp.

◆ resetLatching()

void base_local_planner::LatchedStopRotateController::resetLatching ( )

inline

Definition at line 32 of file latched_stop_rotate_controller.h.

◆ rotateToGoal()

bool base_local_planner::LatchedStopRotateController::rotateToGoal	(	const geometry_msgs::PoseStamped &	global_pose,
		const geometry_msgs::PoseStamped &	robot_vel,
		double	goal_th,
		geometry_msgs::Twist &	cmd_vel,
		Eigen::Vector3f	acc_lim,
		double	sim_period,
		base_local_planner::LocalPlannerLimits &	limits,
		boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)>	obstacle_check
	)

Once a goal position is reached... rotate to the goal orientation.

Parameters

global_pose	The pose of the robot in the global frame
robot_vel	The velocity of the robot
goal_th	The desired th value for the goal
cmd_vel	The velocity commands to be filled

Returns: True if a valid trajectory was found, false otherwise

Definition at line 148 of file latched_stop_rotate_controller.cpp.

◆ sign()

double base_local_planner::LatchedStopRotateController::sign ( double x )

inlineprivate

Definition at line 82 of file latched_stop_rotate_controller.h.

◆ stopWithAccLimits()

bool base_local_planner::LatchedStopRotateController::stopWithAccLimits	(	const geometry_msgs::PoseStamped &	global_pose,
		const geometry_msgs::PoseStamped &	robot_vel,
		geometry_msgs::Twist &	cmd_vel,
		Eigen::Vector3f	acc_lim,
		double	sim_period,
		boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)>	obstacle_check
	)

Stop the robot taking into account acceleration limits.

Parameters

global_pose	The pose of the robot in the global frame
robot_vel	The velocity of the robot
cmd_vel	The velocity commands to be filled

Returns: True if a valid trajectory was found, false otherwise

Definition at line 110 of file latched_stop_rotate_controller.cpp.

Member Data Documentation

◆ latch_xy_goal_tolerance_

bool base_local_planner::LatchedStopRotateController::latch_xy_goal_tolerance_

private

Definition at line 88 of file latched_stop_rotate_controller.h.

◆ rotating_to_goal_

bool base_local_planner::LatchedStopRotateController::rotating_to_goal_

private

Definition at line 89 of file latched_stop_rotate_controller.h.

◆ xy_tolerance_latch_

bool base_local_planner::LatchedStopRotateController::xy_tolerance_latch_

private

Definition at line 88 of file latched_stop_rotate_controller.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LatchedStopRotateController()

◆ ~LatchedStopRotateController()

Member Function Documentation

◆ computeVelocityCommandsStopRotate()

◆ isGoalReached()

◆ isPositionReached()

◆ resetLatching()

◆ rotateToGoal()

◆ sign()

◆ stopWithAccLimits()

Member Data Documentation

◆ latch_xy_goal_tolerance_

◆ rotating_to_goal_

◆ xy_tolerance_latch_