graceful_controller Namespace Reference

Classes
class	GracefulController
class	GracefulControllerROS

Typedefs
typedef std::shared_ptr< GracefulController >	GracefulControllerPtr

Functions
std::vector< geometry_msgs::PoseStamped >	addOrientations (const std::vector< geometry_msgs::PoseStamped > &path)
	Add orientation to each pose in a path. More...
std::vector< geometry_msgs::PoseStamped >	applyOrientationFilter (const std::vector< geometry_msgs::PoseStamped > &path, double yaw_tolerance, double gap_tolerance)
	Filter a path for orientation noise. More...
void	computeDistanceAlongPath (const std::vector< geometry_msgs::PoseStamped > &poses, std::vector< double > &distances)
	Compute distance of poses along a path. Assumes poses are in robot-centric frame. More...
double	getRelativeYaw (const geometry_msgs::PoseStamped &from, const geometry_msgs::PoseStamped &to)
bool	isColliding (double x, double y, double theta, costmap_2d::Costmap2DROS *costmap, visualization_msgs::MarkerArray *viz, double inflation=1.0)
	Collision check the robot pose. More...
void	setYaw (geometry_msgs::PoseStamped &pose, double yaw)
double	sign (double x)

Function Documentation

addOrientations()

std::vector< geometry_msgs::PoseStamped > graceful_controller::addOrientations

(

const std::vector< geometry_msgs::PoseStamped > &

path

)

Add orientation to each pose in a path.

Parameters

path	The path to have orientations added.

Returns

The oriented path.

Definition at line 96 of file orientation_tools.cpp.

applyOrientationFilter()

std::vector< geometry_msgs::PoseStamped > graceful_controller::applyOrientationFilter	(	const std::vector< geometry_msgs::PoseStamped > &	path,
		double	yaw_tolerance,
		double	gap_tolerance
	)

Filter a path for orientation noise.

Parameters

path	The path to be filtered.
yaw_tolerance	Maximum deviation allowed before a pose is filtered.
gap_tolerance	Maximum distance between poses in the filtered path.

Returns

The filtered path.

Definition at line 120 of file orientation_tools.cpp.

computeDistanceAlongPath()

void graceful_controller::computeDistanceAlongPath	(	const std::vector< geometry_msgs::PoseStamped > &	poses,
		std::vector< double > &	distances
	)

Compute distance of poses along a path. Assumes poses are in robot-centric frame.

Parameters

poses	The poses that form the path.
distances	Computed distance for each pose from the robot, along the path. Returned by reference.

Definition at line 834 of file graceful_controller_ros.cpp.

getRelativeYaw()

double graceful_controller::getRelativeYaw	(	const geometry_msgs::PoseStamped &	from,
		const geometry_msgs::PoseStamped &	to
	)

Definition at line 83 of file orientation_tools.cpp.

isColliding()

bool graceful_controller::isColliding	(	double	x,
		double	y,
		double	theta,
		costmap_2d::Costmap2DROS *	costmap,
		visualization_msgs::MarkerArray *	viz,
		double	inflation = 1.0
	)

Collision check the robot pose.

Parameters

x	The robot x coordinate in costmap.global frame
y	The robot y coordinate in costmap.global frame
theta	The robot rotation in costmap.global frame
viz	Optional message for visualizing collisions
inflation	Ratio to expand the footprint

Definition at line 102 of file graceful_controller_ros.cpp.

setYaw()

void graceful_controller::setYaw	(	geometry_msgs::PoseStamped &	pose,
		double	yaw
	)

Definition at line 90 of file orientation_tools.cpp.

sign()

double graceful_controller::sign

(

double

x

)

Definition at line 89 of file graceful_controller_ros.cpp.