Public Member Functions | Private Member Functions | Private Attributes | List of all members
pose_follower::PoseFollower Class Reference

#include <pose_follower.h>

Inheritance diagram for pose_follower::PoseFollower:
Inheritance graph
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Public Member Functions

bool computeVelocityCommands (geometry_msgs::Twist &cmd_vel)
 
void initialize (std::string name, tf2_ros::Buffer *tf, costmap_2d::Costmap2DROS *costmap_ros)
 
bool isGoalReached ()
 
 PoseFollower ()
 
bool setPlan (const std::vector< geometry_msgs::PoseStamped > &global_plan)
 
 ~PoseFollower ()
 
- Public Member Functions inherited from nav_core::BaseLocalPlanner
virtual ~BaseLocalPlanner ()
 

Private Member Functions

geometry_msgs::Twist diff2D (const geometry_msgs::Pose &pose1, const geometry_msgs::Pose &pose2)
 
double headingDiff (double pt_x, double pt_y, double x, double y, double heading)
 
geometry_msgs::Twist limitTwist (const geometry_msgs::Twist &twist)
 
void odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
 
void publishPlan (const std::vector< geometry_msgs::PoseStamped > &path, const ros::Publisher &pub)
 
void reconfigureCB (pose_follower::PoseFollowerConfig &config, uint32_t level)
 
double sign (double n)
 
bool stopped ()
 
bool transformGlobalPlan (const tf2_ros::Buffer &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const costmap_2d::Costmap2DROS &costmap, const std::string &global_frame, std::vector< geometry_msgs::PoseStamped > &transformed_plan)
 

Private Attributes

bool allow_backwards_
 
nav_msgs::Odometry base_odom_
 
base_local_planner::TrajectoryPlannerROS collision_planner_
 
costmap_2d::Costmap2DROS * costmap_ros_
 
unsigned int current_waypoint_
 
dynamic_reconfigure::Server< pose_follower::PoseFollowerConfig > * dsrv_
 
std::vector< geometry_msgs::PoseStamped > global_plan_
 
ros::Publisher global_plan_pub_
 
ros::Time goal_reached_time_
 
bool holonomic_
 
double in_place_trans_vel_
 
double K_rot_
 
double K_trans_
 
double max_heading_diff_before_moving_
 
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_
 
int samples_
 
tf2_ros::Buffer * tf_
 
double tolerance_rot_
 
double tolerance_timeout_
 
double tolerance_trans_
 
double trans_stopped_velocity_
 
bool turn_in_place_first_
 

Additional Inherited Members

- Protected Member Functions inherited from nav_core::BaseLocalPlanner
 BaseLocalPlanner ()
 

Detailed Description

Definition at line 91 of file pose_follower.h.

Constructor & Destructor Documentation

◆ PoseFollower()

pose_follower::PoseFollower::PoseFollower ( )

Definition at line 79 of file pose_follower.cpp.

◆ ~PoseFollower()

pose_follower::PoseFollower::~PoseFollower ( )

Definition at line 81 of file pose_follower.cpp.

Member Function Documentation

◆ computeVelocityCommands()

bool pose_follower::PoseFollower::computeVelocityCommands ( geometry_msgs::Twist &  cmd_vel)
virtual

Implements nav_core::BaseLocalPlanner.

Definition at line 193 of file pose_follower.cpp.

◆ diff2D()

geometry_msgs::Twist pose_follower::PoseFollower::diff2D ( const geometry_msgs::Pose &  pose1,
const geometry_msgs::Pose &  pose2 
)
private

Definition at line 294 of file pose_follower.cpp.

◆ headingDiff()

double pose_follower::PoseFollower::headingDiff ( double  pt_x,
double  pt_y,
double  x,
double  y,
double  heading 
)
private

Definition at line 145 of file pose_follower.cpp.

◆ initialize()

void pose_follower::PoseFollower::initialize ( std::string  name,
tf2_ros::Buffer *  tf,
costmap_2d::Costmap2DROS *  costmap_ros 
)
virtual

Implements nav_core::BaseLocalPlanner.

Definition at line 86 of file pose_follower.cpp.

◆ isGoalReached()

bool pose_follower::PoseFollower::isGoalReached ( )
virtual

Implements nav_core::BaseLocalPlanner.

Definition at line 290 of file pose_follower.cpp.

◆ limitTwist()

geometry_msgs::Twist pose_follower::PoseFollower::limitTwist ( const geometry_msgs::Twist &  twist)
private

Definition at line 344 of file pose_follower.cpp.

◆ odomCallback()

void pose_follower::PoseFollower::odomCallback ( const nav_msgs::Odometry::ConstPtr &  msg)
private

Definition at line 135 of file pose_follower.cpp.

◆ publishPlan()

void pose_follower::PoseFollower::publishPlan ( const std::vector< geometry_msgs::PoseStamped > &  path,
const ros::Publisher &  pub 
)
private

Definition at line 174 of file pose_follower.cpp.

◆ reconfigureCB()

void pose_follower::PoseFollower::reconfigureCB ( pose_follower::PoseFollowerConfig &  config,
uint32_t  level 
)
private

Definition at line 112 of file pose_follower.cpp.

◆ setPlan()

bool pose_follower::PoseFollower::setPlan ( const std::vector< geometry_msgs::PoseStamped > &  global_plan)
virtual

Implements nav_core::BaseLocalPlanner.

Definition at line 277 of file pose_follower.cpp.

◆ sign()

double pose_follower::PoseFollower::sign ( double  n)
inlineprivate

Definition at line 136 of file pose_follower.h.

◆ stopped()

bool pose_follower::PoseFollower::stopped ( )
private

Definition at line 161 of file pose_follower.cpp.

◆ transformGlobalPlan()

bool pose_follower::PoseFollower::transformGlobalPlan ( const tf2_ros::Buffer &  tf,
const std::vector< geometry_msgs::PoseStamped > &  global_plan,
const costmap_2d::Costmap2DROS &  costmap,
const std::string &  global_frame,
std::vector< geometry_msgs::PoseStamped > &  transformed_plan 
)
private

Definition at line 398 of file pose_follower.cpp.

Member Data Documentation

◆ allow_backwards_

bool pose_follower::PoseFollower::allow_backwards_
private

Definition at line 173 of file pose_follower.h.

◆ base_odom_

nav_msgs::Odometry pose_follower::PoseFollower::base_odom_
private

Definition at line 158 of file pose_follower.h.

◆ collision_planner_

base_local_planner::TrajectoryPlannerROS pose_follower::PoseFollower::collision_planner_
private

Definition at line 162 of file pose_follower.h.

◆ costmap_ros_

costmap_2d::Costmap2DROS* pose_follower::PoseFollower::costmap_ros_
private

Definition at line 154 of file pose_follower.h.

◆ current_waypoint_

unsigned int pose_follower::PoseFollower::current_waypoint_
private

Definition at line 160 of file pose_follower.h.

◆ dsrv_

dynamic_reconfigure::Server<pose_follower::PoseFollowerConfig>* pose_follower::PoseFollower::dsrv_
private

Definition at line 163 of file pose_follower.h.

◆ global_plan_

std::vector<geometry_msgs::PoseStamped> pose_follower::PoseFollower::global_plan_
private

Definition at line 161 of file pose_follower.h.

◆ global_plan_pub_

ros::Publisher pose_follower::PoseFollower::global_plan_pub_
private

Definition at line 155 of file pose_follower.h.

◆ goal_reached_time_

ros::Time pose_follower::PoseFollower::goal_reached_time_
private

Definition at line 159 of file pose_follower.h.

◆ holonomic_

bool pose_follower::PoseFollower::holonomic_
private

Definition at line 176 of file pose_follower.h.

◆ in_place_trans_vel_

double pose_follower::PoseFollower::in_place_trans_vel_
private

Definition at line 168 of file pose_follower.h.

◆ K_rot_

double pose_follower::PoseFollower::K_rot_
private

Definition at line 170 of file pose_follower.h.

◆ K_trans_

double pose_follower::PoseFollower::K_trans_
private

Definition at line 170 of file pose_follower.h.

◆ max_heading_diff_before_moving_

double pose_follower::PoseFollower::max_heading_diff_before_moving_
private

Definition at line 175 of file pose_follower.h.

◆ max_vel_lin_

double pose_follower::PoseFollower::max_vel_lin_
private

Definition at line 166 of file pose_follower.h.

◆ max_vel_th_

double pose_follower::PoseFollower::max_vel_th_
private

Definition at line 166 of file pose_follower.h.

◆ min_in_place_vel_th_

double pose_follower::PoseFollower::min_in_place_vel_th_
private

Definition at line 168 of file pose_follower.h.

◆ min_vel_lin_

double pose_follower::PoseFollower::min_vel_lin_
private

Definition at line 167 of file pose_follower.h.

◆ min_vel_th_

double pose_follower::PoseFollower::min_vel_th_
private

Definition at line 167 of file pose_follower.h.

◆ odom_lock_

boost::mutex pose_follower::PoseFollower::odom_lock_
private

Definition at line 156 of file pose_follower.h.

◆ odom_sub_

ros::Subscriber pose_follower::PoseFollower::odom_sub_
private

Definition at line 157 of file pose_follower.h.

◆ rot_stopped_velocity_

double pose_follower::PoseFollower::rot_stopped_velocity_
private

Definition at line 169 of file pose_follower.h.

◆ samples_

int pose_follower::PoseFollower::samples_
private

Definition at line 172 of file pose_follower.h.

◆ tf_

tf2_ros::Buffer* pose_follower::PoseFollower::tf_
private

Definition at line 153 of file pose_follower.h.

◆ tolerance_rot_

double pose_follower::PoseFollower::tolerance_rot_
private

Definition at line 170 of file pose_follower.h.

◆ tolerance_timeout_

double pose_follower::PoseFollower::tolerance_timeout_
private

Definition at line 171 of file pose_follower.h.

◆ tolerance_trans_

double pose_follower::PoseFollower::tolerance_trans_
private

Definition at line 170 of file pose_follower.h.

◆ trans_stopped_velocity_

double pose_follower::PoseFollower::trans_stopped_velocity_
private

Definition at line 169 of file pose_follower.h.

◆ turn_in_place_first_

bool pose_follower::PoseFollower::turn_in_place_first_
private

Definition at line 174 of file pose_follower.h.

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

pose_follower
Author(s): Eitan Marder-Eppstein
autogenerated on Fri Aug 26 2022 02:17:51