base_local_planner::TrajectoryPlanner Class Reference

Computes control velocities for a robot given a costmap, a plan, and the robot's position in the world. More...

#include <trajectory_planner.h>

Public Member Functions
bool	checkTrajectory (double x, double y, double theta, double vx, double vy, double vtheta, double vx_samp, double vy_samp, double vtheta_samp)
	Generate and score a single trajectory. More...
Trajectory	findBestPath (const geometry_msgs::PoseStamped &global_pose, geometry_msgs::PoseStamped &global_vel, geometry_msgs::PoseStamped &drive_velocities)
	Given the current position, orientation, and velocity of the robot, return a trajectory to follow. More...
bool	getCellCosts (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)
	Compute the components and total cost for a map grid cell. More...
std::vector< geometry_msgs::Point >	getFootprint () const
geometry_msgs::Polygon	getFootprintPolygon () const
	Return the footprint specification of the robot. More...
void	getLocalGoal (double &x, double &y)
	Accessor for the goal the robot is currently pursuing in world corrdinates. More...
void	reconfigure (BaseLocalPlannerConfig &cfg)
	Reconfigures the trajectory planner. More...
double	scoreTrajectory (double x, double y, double theta, double vx, double vy, double vtheta, double vx_samp, double vy_samp, double vtheta_samp)
	Generate and score a single trajectory. More...
void	setFootprint (std::vector< geometry_msgs::Point > footprint)
	Set the footprint specification of the robot. More...
	TrajectoryPlanner (WorldModel &world_model, const costmap_2d::Costmap2D &costmap, std::vector< geometry_msgs::Point > footprint_spec, double acc_lim_x=1.0, double acc_lim_y=1.0, double acc_lim_theta=1.0, double sim_time=1.0, double sim_granularity=0.025, int vx_samples=20, int vtheta_samples=20, double path_distance_bias=0.6, double goal_distance_bias=0.8, double occdist_scale=0.2, double heading_lookahead=0.325, double oscillation_reset_dist=0.05, double escape_reset_dist=0.10, double escape_reset_theta=M_PI_2, bool holonomic_robot=true, double max_vel_x=0.5, double min_vel_x=0.1, double max_vel_th=1.0, double min_vel_th=-1.0, double min_in_place_vel_th=0.4, double backup_vel=-0.1, bool dwa=false, bool heading_scoring=false, double heading_scoring_timestep=0.1, bool meter_scoring=true, bool simple_attractor=false, std::vector< double > y_vels=std::vector< double >(0), double stop_time_buffer=0.2, double sim_period=0.1, double angular_sim_granularity=0.025)
	Constructs a trajectory controller. More...
void	updatePlan (const std::vector< geometry_msgs::PoseStamped > &new_plan, bool compute_dists=false)
	Update the plan that the controller is following. More...
	~TrajectoryPlanner ()
	Destructs a trajectory controller. More...

Private Member Functions
double	computeNewThetaPosition (double thetai, double vth, double dt)
	Compute orientation based on velocity. More...
double	computeNewVelocity (double vg, double vi, double a_max, double dt)
	Compute velocity based on acceleration. More...
double	computeNewXPosition (double xi, double vx, double vy, double theta, double dt)
	Compute x position based on velocity. More...
double	computeNewYPosition (double yi, double vx, double vy, double theta, double dt)
	Compute y position based on velocity. More...
Trajectory	createTrajectories (double x, double y, double theta, double vx, double vy, double vtheta, double acc_x, double acc_y, double acc_theta)
	Create the trajectories we wish to explore, score them, and return the best option. More...
double	footprintCost (double x_i, double y_i, double theta_i)
	Checks the legality of the robot footprint at a position and orientation using the world model. More...
void	generateTrajectory (double x, double y, double theta, double vx, double vy, double vtheta, double vx_samp, double vy_samp, double vtheta_samp, double acc_x, double acc_y, double acc_theta, double impossible_cost, Trajectory &traj)
	Generate and score a single trajectory. More...
void	getMaxSpeedToStopInTime (double time, double &vx, double &vy, double &vth)
double	headingDiff (int cell_x, int cell_y, double x, double y, double heading)
double	lineCost (int x0, int x1, int y0, int y1)
double	pointCost (int x, int y)

Private Attributes
double	acc_lim_theta_
	The acceleration limits of the robot. More...
double	acc_lim_x_
double	acc_lim_y_
double	angular_sim_granularity_
	The distance between angular simulation points. More...
double	backup_vel_
	The velocity to use while backing up. More...
double	circumscribed_radius_
boost::mutex	configuration_mutex_
const costmap_2d::Costmap2D &	costmap_
	Provides access to cost map information. More...
bool	dwa_
	Should we use the dynamic window approach? More...
double	escape_reset_dist_
double	escape_reset_theta_
	The distance the robot must travel before it can leave escape mode. More...
double	escape_theta_
	Used to calculate the distance the robot has traveled before reseting escape booleans. More...
double	escape_x_
double	escape_y_
bool	escaping_
	Boolean to keep track of whether we're in escape mode. More...
bool	final_goal_position_valid_
	True if final_goal_x_ and final_goal_y_ have valid data. Only false if an empty path is sent. More...
double	final_goal_x_
double	final_goal_y_
	The end position of the plan. More...
base_local_planner::FootprintHelper	footprint_helper_
std::vector< geometry_msgs::Point >	footprint_spec_
	The footprint specification of the robot. More...
std::vector< geometry_msgs::PoseStamped >	global_plan_
	The global path for the robot to follow. More...
double	goal_distance_bias_
MapGrid	goal_map_
	The local map grid where we propagate goal distance. More...
double	goal_x_
double	goal_y_
	Storage for the local goal the robot is pursuing. More...
double	heading_lookahead_
	How far the robot should look ahead of itself when differentiating between different rotational velocities. More...
bool	heading_scoring_
	Should we score based on the rollout approach or the heading approach. More...
double	heading_scoring_timestep_
	How far to look ahead in time when we score a heading. More...
bool	holonomic_robot_
	Is the robot holonomic or not? More...
double	inscribed_radius_
double	max_vel_th_
double	max_vel_x_
bool	meter_scoring_
double	min_in_place_vel_th_
	Velocity limits for the controller. More...
double	min_vel_th_
double	min_vel_x_
double	occdist_scale_
	Scaling factors for the controller's cost function. More...
double	oscillation_reset_dist_
	The distance the robot must travel before it can explore rotational velocities that were unsuccessful in the past. More...
double	path_distance_bias_
MapGrid	path_map_
	The local map grid where we propagate path distance. More...
double	prev_x_
double	prev_y_
	Used to calculate the distance the robot has traveled before reseting oscillation booleans. More...
bool	rotating_left
bool	rotating_right
	Booleans to keep track of the direction of rotation for the robot. More...
double	sim_granularity_
	The distance between simulation points. More...
double	sim_period_
	The number of seconds to use to compute max/min vels for dwa. More...
double	sim_time_
	The number of seconds each trajectory is "rolled-out". More...
bool	simple_attractor_
	Enables simple attraction to a goal point. More...
double	stop_time_buffer_
	How long before hitting something we're going to enforce that the robot stop. More...
bool	strafe_left
	Booleans to keep track of strafe direction for the robot. More...
bool	strafe_right
bool	stuck_left
bool	stuck_left_strafe
bool	stuck_right
	Booleans to keep the robot from oscillating during rotation. More...
bool	stuck_right_strafe
	Booleans to keep the robot from oscillating during strafing. More...
Trajectory	traj_one
Trajectory	traj_two
	Used for scoring trajectories. More...
int	vtheta_samples_
	The number of samples we'll take in the theta dimension of the control space. More...
int	vx_samples_
	The number of samples we'll take in the x dimenstion of the control space. More...
WorldModel &	world_model_
	The world model that the controller uses for collision detection. More...
std::vector< double >	y_vels_
	Y velocities to explore. More...

Friends
class	TrajectoryPlannerTest

Detailed Description

Computes control velocities for a robot given a costmap, a plan, and the robot's position in the world.

Definition at line 101 of file trajectory_planner.h.

Constructor & Destructor Documentation

TrajectoryPlanner()

base_local_planner::TrajectoryPlanner::TrajectoryPlanner	(	WorldModel &	world_model,
		const costmap_2d::Costmap2D &	costmap,
		std::vector< geometry_msgs::Point >	footprint_spec,
		double	acc_lim_x = 1.0,
		double	acc_lim_y = 1.0,
		double	acc_lim_theta = 1.0,
		double	sim_time = 1.0,
		double	sim_granularity = 0.025,
		int	vx_samples = 20,
		int	vtheta_samples = 20,
		double	path_distance_bias = 0.6,
		double	goal_distance_bias = 0.8,
		double	occdist_scale = 0.2,
		double	heading_lookahead = 0.325,
		double	oscillation_reset_dist = 0.05,
		double	escape_reset_dist = 0.10,
		double	escape_reset_theta = M_PI_2,
		bool	holonomic_robot = true,
		double	max_vel_x = 0.5,
		double	min_vel_x = 0.1,
		double	max_vel_th = 1.0,
		double	min_vel_th = -1.0,
		double	min_in_place_vel_th = 0.4,
		double	backup_vel = -0.1,
		bool	dwa = false,
		bool	heading_scoring = false,
		double	heading_scoring_timestep = 0.1,
		bool	meter_scoring = true,
		bool	simple_attractor = false,
		std::vector< double >	y_vels = std::vector<double>(0),
		double	stop_time_buffer = 0.2,
		double	sim_period = 0.1,
		double	angular_sim_granularity = 0.025
	)

Constructs a trajectory controller.

Parameters

world_model	The WorldModel the trajectory controller uses to check for collisions
costmap	A reference to the Costmap the controller should use
footprint_spec	A polygon representing the footprint of the robot. (Must be convex)
inscribed_radius	The radius of the inscribed circle of the robot
circumscribed_radius	The radius of the circumscribed circle of the robot
acc_lim_x	The acceleration limit of the robot in the x direction
acc_lim_y	The acceleration limit of the robot in the y direction
acc_lim_theta	The acceleration limit of the robot in the theta direction
sim_time	The number of seconds to "roll-out" each trajectory
sim_granularity	The distance between simulation points should be small enough that the robot doesn't hit things
vx_samples	The number of trajectories to sample in the x dimension
vtheta_samples	The number of trajectories to sample in the theta dimension
path_distance_bias	A scaling factor for how close the robot should stay to the path
goal_distance_bias	A scaling factor for how aggresively the robot should pursue a local goal
occdist_scale	A scaling factor for how much the robot should prefer to stay away from obstacles
heading_lookahead	How far the robot should look ahead of itself when differentiating between different rotational velocities
oscillation_reset_dist	The distance the robot must travel before it can explore rotational velocities that were unsuccessful in the past
escape_reset_dist	The distance the robot must travel before it can exit escape mode
escape_reset_theta	The distance the robot must rotate before it can exit escape mode
holonomic_robot	Set this to true if the robot being controlled can take y velocities and false otherwise
max_vel_x	The maximum x velocity the controller will explore
min_vel_x	The minimum x velocity the controller will explore
max_vel_th	The maximum rotational velocity the controller will explore
min_vel_th	The minimum rotational velocity the controller will explore
min_in_place_vel_th	The absolute value of the minimum in-place rotational velocity the controller will explore
backup_vel	The velocity to use while backing up
dwa	Set this to true to use the Dynamic Window Approach, false to use acceleration limits
heading_scoring	Set this to true to score trajectories based on the robot's heading after 1 timestep
heading_scoring_timestep	How far to look ahead in time when we score heading based trajectories
meter_scoring	adapt parameters to costmap resolution
simple_attractor	Set this to true to allow simple attraction to a goal point instead of intelligent cost propagation
y_vels	A vector of the y velocities the controller will explore
angular_sim_granularity	The distance between simulation points for angular velocity should be small enough that the robot doesn't hit things

Definition at line 142 of file trajectory_planner.cpp.

~TrajectoryPlanner()

base_local_planner::TrajectoryPlanner::~TrajectoryPlanner

(

)

Destructs a trajectory controller.

Definition at line 191 of file trajectory_planner.cpp.

Member Function Documentation

checkTrajectory()

bool base_local_planner::TrajectoryPlanner::checkTrajectory	(	double	x,
		double	y,
		double	theta,
		double	vx,
		double	vy,
		double	vtheta,
		double	vx_samp,
		double	vy_samp,
		double	vtheta_samp
	)

Generate and score a single trajectory.

Parameters

x	The x position of the robot
y	The y position of the robot
theta	The orientation of the robot
vx	The x velocity of the robot
vy	The y velocity of the robot
vtheta	The theta velocity of the robot
vx_samp	The x velocity used to seed the trajectory
vy_samp	The y velocity used to seed the trajectory
vtheta_samp	The theta velocity used to seed the trajectory

Returns

True if the trajectory is legal, false otherwise

Definition at line 503 of file trajectory_planner.cpp.

computeNewThetaPosition()

double base_local_planner::TrajectoryPlanner::computeNewThetaPosition ( double  thetai, double  vth, double  dt  )

inlineprivate

Compute orientation based on velocity.

Parameters

thetai	The current orientation
vth	The current theta velocity
dt	The timestep to take

Returns

The new orientation

Definition at line 388 of file trajectory_planner.h.

computeNewVelocity()

double base_local_planner::TrajectoryPlanner::computeNewVelocity ( double  vg, double  vi, double  a_max, double  dt  )

inlineprivate

Compute velocity based on acceleration.

Parameters

vg	The desired velocity, what we're accelerating up to
vi	The current velocity
a_max	An acceleration limit
dt	The timestep to take

Returns

The new velocity

Definition at line 401 of file trajectory_planner.h.

computeNewXPosition()

double base_local_planner::TrajectoryPlanner::computeNewXPosition ( double  xi, double  vx, double  vy, double  theta, double  dt  )

inlineprivate

Compute x position based on velocity.

Parameters

xi	The current x position
vx	The current x velocity
vy	The current y velocity
theta	The current orientation
dt	The timestep to take

Returns

The new x position

Definition at line 364 of file trajectory_planner.h.

computeNewYPosition()

double base_local_planner::TrajectoryPlanner::computeNewYPosition ( double  yi, double  vx, double  vy, double  theta, double  dt  )

inlineprivate

Compute y position based on velocity.

Parameters

yi	The current y position
vx	The current x velocity
vy	The current y velocity
theta	The current orientation
dt	The timestep to take

Returns

The new y position

Definition at line 377 of file trajectory_planner.h.

createTrajectories()

Trajectory base_local_planner::TrajectoryPlanner::createTrajectories ( double  x, double  y, double  theta, double  vx, double  vy, double  vtheta, double  acc_x, double  acc_y, double  acc_theta  )

private

Create the trajectories we wish to explore, score them, and return the best option.

Parameters

x	The x position of the robot
y	The y position of the robot
theta	The orientation of the robot
vx	The x velocity of the robot
vy	The y velocity of the robot
vtheta	The theta velocity of the robot
acc_x	The x acceleration limit of the robot
acc_y	The y acceleration limit of the robot
acc_theta	The theta acceleration limit of the robot

Returns

Definition at line 536 of file trajectory_planner.cpp.

findBestPath()

Trajectory base_local_planner::TrajectoryPlanner::findBestPath	(	const geometry_msgs::PoseStamped &	global_pose,
		geometry_msgs::PoseStamped &	global_vel,
		geometry_msgs::PoseStamped &	drive_velocities
	)

Given the current position, orientation, and velocity of the robot, return a trajectory to follow.

Parameters

global_pose	The current pose of the robot in world space
global_vel	The current velocity of the robot in world space
drive_velocities	Will be set to velocities to send to the robot base

Returns

The selected path or trajectory

Definition at line 907 of file trajectory_planner.cpp.

footprintCost()

double base_local_planner::TrajectoryPlanner::footprintCost ( double  x_i, double  y_i, double  theta_i  )

private

Checks the legality of the robot footprint at a position and orientation using the world model.

Parameters

x_i	The x position of the robot
y_i	The y position of the robot
theta_i	The orientation of the robot

Returns

Definition at line 988 of file trajectory_planner.cpp.

generateTrajectory()

void base_local_planner::TrajectoryPlanner::generateTrajectory ( double  x, double  y, double  theta, double  vx, double  vy, double  vtheta, double  vx_samp, double  vy_samp, double  vtheta_samp, double  acc_x, double  acc_y, double  acc_theta, double  impossible_cost, Trajectory &  traj  )

private

Generate and score a single trajectory.

Parameters

x	The x position of the robot
y	The y position of the robot
theta	The orientation of the robot
vx	The x velocity of the robot
vy	The y velocity of the robot
vtheta	The theta velocity of the robot
vx_samp	The x velocity used to seed the trajectory
vy_samp	The y velocity used to seed the trajectory
vtheta_samp	The theta velocity used to seed the trajectory
acc_x	The x acceleration limit of the robot
acc_y	The y acceleration limit of the robot
acc_theta	The theta acceleration limit of the robot
impossible_cost	The cost value of a cell in the local map grid that is considered impassable
traj	Will be set to the generated trajectory with its associated score

create and score a trajectory given the current pose of the robot and selected velocities

Definition at line 214 of file trajectory_planner.cpp.

getCellCosts()

bool base_local_planner::TrajectoryPlanner::getCellCosts	(	int	cx,
		int	cy,
		float &	path_cost,
		float &	goal_cost,
		float &	occ_cost,
		float &	total_cost
	)

Compute the components and total cost for a map grid cell.

Parameters

cx	The x coordinate of the cell in the map grid
cy	The y coordinate of the cell in the map grid
path_cost	Will be set to the path distance component of the cost function
goal_cost	Will be set to the goal distance component of the cost function
occ_cost	Will be set to the costmap value of the cell
total_cost	Will be set to the value of the overall cost function, taking into account the scaling parameters

Returns

True if the cell is traversible and therefore a legal location for the robot to move to

Definition at line 193 of file trajectory_planner.cpp.

getFootprint()

std::vector<geometry_msgs::Point> base_local_planner::TrajectoryPlanner::getFootprint ( ) const

inline

Definition at line 243 of file trajectory_planner.h.

getFootprintPolygon()

geometry_msgs::Polygon base_local_planner::TrajectoryPlanner::getFootprintPolygon ( ) const

inline

Return the footprint specification of the robot.

Definition at line 242 of file trajectory_planner.h.

getLocalGoal()

void base_local_planner::TrajectoryPlanner::getLocalGoal	(	double &	x,
		double &	y
	)

Accessor for the goal the robot is currently pursuing in world corrdinates.

Parameters

x	Will be set to the x position of the local goal
y	Will be set to the y position of the local goal

Definition at line 994 of file trajectory_planner.cpp.

getMaxSpeedToStopInTime()

void base_local_planner::TrajectoryPlanner::getMaxSpeedToStopInTime ( double  time, double &  vx, double &  vy, double &  vth  )

inlineprivate

Definition at line 408 of file trajectory_planner.h.

headingDiff()

double base_local_planner::TrajectoryPlanner::headingDiff ( int  cell_x, int  cell_y, double  x, double  y, double  heading  )

private

Definition at line 372 of file trajectory_planner.cpp.

lineCost()

double base_local_planner::TrajectoryPlanner::lineCost ( int  x0, int  x1, int  y0, int  y1  )

private

Definition at line 389 of file trajectory_planner.cpp.

pointCost()

double base_local_planner::TrajectoryPlanner::pointCost ( int  x, int  y  )

private

Definition at line 466 of file trajectory_planner.cpp.

reconfigure()

void base_local_planner::TrajectoryPlanner::reconfigure

(

BaseLocalPlannerConfig &

cfg

)

Reconfigures the trajectory planner.

Definition at line 61 of file trajectory_planner.cpp.

scoreTrajectory()

double base_local_planner::TrajectoryPlanner::scoreTrajectory	(	double	x,
		double	y,
		double	theta,
		double	vx,
		double	vy,
		double	vtheta,
		double	vx_samp,
		double	vy_samp,
		double	vtheta_samp
	)

Generate and score a single trajectory.

Parameters

x	The x position of the robot
y	The y position of the robot
theta	The orientation of the robot
vx	The x velocity of the robot
vy	The y velocity of the robot
vtheta	The theta velocity of the robot
vx_samp	The x velocity used to seed the trajectory
vy_samp	The y velocity used to seed the trajectory
vtheta_samp	The theta velocity used to seed the trajectory

Returns

The score (as double)

Definition at line 519 of file trajectory_planner.cpp.

setFootprint()

void base_local_planner::TrajectoryPlanner::setFootprint ( std::vector< geometry_msgs::Point >  footprint )

inline

Set the footprint specification of the robot.

Definition at line 239 of file trajectory_planner.h.

updatePlan()

void base_local_planner::TrajectoryPlanner::updatePlan	(	const std::vector< geometry_msgs::PoseStamped > &	new_plan,
		bool	compute_dists = false
	)

Update the plan that the controller is following.

Parameters

new_plan	A new plan for the controller to follow
compute_dists	Wheter or not to compute path/goal distances when a plan is updated

Definition at line 476 of file trajectory_planner.cpp.

Friends And Related Function Documentation

TrajectoryPlannerTest

friend class TrajectoryPlannerTest

friend

Definition at line 102 of file trajectory_planner.h.

Member Data Documentation

acc_lim_theta_

double base_local_planner::TrajectoryPlanner::acc_lim_theta_

private

The acceleration limits of the robot.

Definition at line 325 of file trajectory_planner.h.

acc_lim_x_

double base_local_planner::TrajectoryPlanner::acc_lim_x_

private

Definition at line 325 of file trajectory_planner.h.

acc_lim_y_

double base_local_planner::TrajectoryPlanner::acc_lim_y_

private

Definition at line 325 of file trajectory_planner.h.

angular_sim_granularity_

double base_local_planner::TrajectoryPlanner::angular_sim_granularity_

private

The distance between angular simulation points.

Definition at line 319 of file trajectory_planner.h.

backup_vel_

double base_local_planner::TrajectoryPlanner::backup_vel_

private

The velocity to use while backing up.

Definition at line 339 of file trajectory_planner.h.

circumscribed_radius_

double base_local_planner::TrajectoryPlanner::circumscribed_radius_

private

Definition at line 351 of file trajectory_planner.h.

configuration_mutex_

boost::mutex base_local_planner::TrajectoryPlanner::configuration_mutex_

private

Definition at line 353 of file trajectory_planner.h.

costmap_

const costmap_2d::Costmap2D& base_local_planner::TrajectoryPlanner::costmap_

private

Provides access to cost map information.

Definition at line 296 of file trajectory_planner.h.

dwa_

bool base_local_planner::TrajectoryPlanner::dwa_

private

Should we use the dynamic window approach?

Definition at line 341 of file trajectory_planner.h.

escape_reset_dist_

double base_local_planner::TrajectoryPlanner::escape_reset_dist_

private

Definition at line 334 of file trajectory_planner.h.

escape_reset_theta_

double base_local_planner::TrajectoryPlanner::escape_reset_theta_

private

The distance the robot must travel before it can leave escape mode.

Definition at line 334 of file trajectory_planner.h.

escape_theta_

double base_local_planner::TrajectoryPlanner::escape_theta_

private

Used to calculate the distance the robot has traveled before reseting escape booleans.

Definition at line 328 of file trajectory_planner.h.

escape_x_

double base_local_planner::TrajectoryPlanner::escape_x_

private

Definition at line 328 of file trajectory_planner.h.

escape_y_

double base_local_planner::TrajectoryPlanner::escape_y_

private

Definition at line 328 of file trajectory_planner.h.

escaping_

bool base_local_planner::TrajectoryPlanner::escaping_

private

Boolean to keep track of whether we're in escape mode.

Definition at line 309 of file trajectory_planner.h.

final_goal_position_valid_

bool base_local_planner::TrajectoryPlanner::final_goal_position_valid_

private

True if final_goal_x_ and final_goal_y_ have valid data. Only false if an empty path is sent.

Definition at line 315 of file trajectory_planner.h.

final_goal_x_

double base_local_planner::TrajectoryPlanner::final_goal_x_

private

Definition at line 314 of file trajectory_planner.h.

final_goal_y_

double base_local_planner::TrajectoryPlanner::final_goal_y_

private

The end position of the plan.

Definition at line 314 of file trajectory_planner.h.

footprint_helper_

base_local_planner::FootprintHelper base_local_planner::TrajectoryPlanner::footprint_helper_

private

Definition at line 292 of file trajectory_planner.h.

footprint_spec_

std::vector<geometry_msgs::Point> base_local_planner::TrajectoryPlanner::footprint_spec_

private

The footprint specification of the robot.

Definition at line 299 of file trajectory_planner.h.

global_plan_

std::vector<geometry_msgs::PoseStamped> base_local_planner::TrajectoryPlanner::global_plan_

private

The global path for the robot to follow.

Definition at line 301 of file trajectory_planner.h.

goal_distance_bias_

double base_local_planner::TrajectoryPlanner::goal_distance_bias_

private

Definition at line 324 of file trajectory_planner.h.

goal_map_

MapGrid base_local_planner::TrajectoryPlanner::goal_map_

private

The local map grid where we propagate goal distance.

Definition at line 295 of file trajectory_planner.h.

goal_x_

double base_local_planner::TrajectoryPlanner::goal_x_

private

Definition at line 312 of file trajectory_planner.h.

goal_y_

double base_local_planner::TrajectoryPlanner::goal_y_

private

Storage for the local goal the robot is pursuing.

Definition at line 312 of file trajectory_planner.h.

heading_lookahead_

double base_local_planner::TrajectoryPlanner::heading_lookahead_

private

How far the robot should look ahead of itself when differentiating between different rotational velocities.

Definition at line 332 of file trajectory_planner.h.

heading_scoring_

bool base_local_planner::TrajectoryPlanner::heading_scoring_

private

Should we score based on the rollout approach or the heading approach.

Definition at line 342 of file trajectory_planner.h.

heading_scoring_timestep_

double base_local_planner::TrajectoryPlanner::heading_scoring_timestep_

private

How far to look ahead in time when we score a heading.

Definition at line 343 of file trajectory_planner.h.

holonomic_robot_

bool base_local_planner::TrajectoryPlanner::holonomic_robot_

private

Is the robot holonomic or not?

Definition at line 335 of file trajectory_planner.h.

inscribed_radius_

double base_local_planner::TrajectoryPlanner::inscribed_radius_

private

Definition at line 351 of file trajectory_planner.h.

max_vel_th_

double base_local_planner::TrajectoryPlanner::max_vel_th_

private

Definition at line 337 of file trajectory_planner.h.

max_vel_x_

double base_local_planner::TrajectoryPlanner::max_vel_x_

private

Definition at line 337 of file trajectory_planner.h.

meter_scoring_

bool base_local_planner::TrajectoryPlanner::meter_scoring_

private

Definition at line 310 of file trajectory_planner.h.

min_in_place_vel_th_

double base_local_planner::TrajectoryPlanner::min_in_place_vel_th_

private

Velocity limits for the controller.

Definition at line 337 of file trajectory_planner.h.

min_vel_th_

double base_local_planner::TrajectoryPlanner::min_vel_th_

private

Definition at line 337 of file trajectory_planner.h.

min_vel_x_

double base_local_planner::TrajectoryPlanner::min_vel_x_

private

Definition at line 337 of file trajectory_planner.h.

occdist_scale_

double base_local_planner::TrajectoryPlanner::occdist_scale_

private

Scaling factors for the controller's cost function.

Definition at line 324 of file trajectory_planner.h.

oscillation_reset_dist_

double base_local_planner::TrajectoryPlanner::oscillation_reset_dist_

private

The distance the robot must travel before it can explore rotational velocities that were unsuccessful in the past.

Definition at line 333 of file trajectory_planner.h.

path_distance_bias_

double base_local_planner::TrajectoryPlanner::path_distance_bias_

private

Definition at line 324 of file trajectory_planner.h.

path_map_

MapGrid base_local_planner::TrajectoryPlanner::path_map_

private

The local map grid where we propagate path distance.

Definition at line 294 of file trajectory_planner.h.

prev_x_

double base_local_planner::TrajectoryPlanner::prev_x_

private

Definition at line 327 of file trajectory_planner.h.

prev_y_

double base_local_planner::TrajectoryPlanner::prev_y_

private

Used to calculate the distance the robot has traveled before reseting oscillation booleans.

Definition at line 327 of file trajectory_planner.h.

rotating_left

bool base_local_planner::TrajectoryPlanner::rotating_left

private

Definition at line 304 of file trajectory_planner.h.

rotating_right

bool base_local_planner::TrajectoryPlanner::rotating_right

private

Booleans to keep track of the direction of rotation for the robot.

Definition at line 304 of file trajectory_planner.h.

sim_granularity_

double base_local_planner::TrajectoryPlanner::sim_granularity_

private

The distance between simulation points.

Definition at line 318 of file trajectory_planner.h.

sim_period_

double base_local_planner::TrajectoryPlanner::sim_period_

private

The number of seconds to use to compute max/min vels for dwa.

Definition at line 349 of file trajectory_planner.h.

sim_time_

double base_local_planner::TrajectoryPlanner::sim_time_

private

The number of seconds each trajectory is "rolled-out".

Definition at line 317 of file trajectory_planner.h.

simple_attractor_

bool base_local_planner::TrajectoryPlanner::simple_attractor_

private

Enables simple attraction to a goal point.

Definition at line 344 of file trajectory_planner.h.

stop_time_buffer_

double base_local_planner::TrajectoryPlanner::stop_time_buffer_

private

How long before hitting something we're going to enforce that the robot stop.

Definition at line 348 of file trajectory_planner.h.

strafe_left

bool base_local_planner::TrajectoryPlanner::strafe_left

private

Booleans to keep track of strafe direction for the robot.

Definition at line 307 of file trajectory_planner.h.

strafe_right

bool base_local_planner::TrajectoryPlanner::strafe_right

private

Definition at line 307 of file trajectory_planner.h.

stuck_left

bool base_local_planner::TrajectoryPlanner::stuck_left

private

Definition at line 303 of file trajectory_planner.h.

stuck_left_strafe

bool base_local_planner::TrajectoryPlanner::stuck_left_strafe

private

Definition at line 306 of file trajectory_planner.h.

stuck_right

bool base_local_planner::TrajectoryPlanner::stuck_right

private

Booleans to keep the robot from oscillating during rotation.

Definition at line 303 of file trajectory_planner.h.

stuck_right_strafe

bool base_local_planner::TrajectoryPlanner::stuck_right_strafe

private

Booleans to keep the robot from oscillating during strafing.

Definition at line 306 of file trajectory_planner.h.

traj_one

Trajectory base_local_planner::TrajectoryPlanner::traj_one

private

Definition at line 330 of file trajectory_planner.h.

traj_two

Trajectory base_local_planner::TrajectoryPlanner::traj_two

private

Used for scoring trajectories.

Definition at line 330 of file trajectory_planner.h.

vtheta_samples_

int base_local_planner::TrajectoryPlanner::vtheta_samples_

private

The number of samples we'll take in the theta dimension of the control space.

Definition at line 322 of file trajectory_planner.h.

vx_samples_

int base_local_planner::TrajectoryPlanner::vx_samples_

private

The number of samples we'll take in the x dimenstion of the control space.

Definition at line 321 of file trajectory_planner.h.

world_model_

WorldModel& base_local_planner::TrajectoryPlanner::world_model_

private

The world model that the controller uses for collision detection.

Definition at line 297 of file trajectory_planner.h.

y_vels_

std::vector<double> base_local_planner::TrajectoryPlanner::y_vels_

private

Y velocities to explore.

Definition at line 346 of file trajectory_planner.h.

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

• trajectory_planner.h
• trajectory_planner.cpp