safety_limiter::SafetyLimiterNode Class Reference

Classes
class	polygon
class	vec

Public Member Functions
	SafetyLimiterNode ()
void	spin ()

Protected Member Functions
void	cbCloud (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	cbDisable (const std_msgs::Bool::ConstPtr &msg)
void	cbParameter (const SafetyLimiterConfig &config, const uint32_t)
void	cbPredictTimer (const ros::TimerEvent &event)
void	cbTwist (const geometry_msgs::Twist::ConstPtr &msg)
void	cbWatchdogReset (const std_msgs::Empty::ConstPtr &msg)
void	cbWatchdogTimer (const ros::TimerEvent &event)
void	diagnoseCollision (diagnostic_updater::DiagnosticStatusWrapper &stat)
geometry_msgs::Twist	limit (const geometry_msgs::Twist &in)
geometry_msgs::Twist	limitMaxVelocities (const geometry_msgs::Twist &in)
double	predict (const geometry_msgs::Twist &in)

Protected Attributes
double	acc_ [2]
bool	allow_empty_cloud_
std::string	base_frame_id_
pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud_accum_
bool	cloud_clear_
double	d_escape_
double	d_margin_
diagnostic_updater::Updater	diag_updater_
double	disable_timeout_
double	downsample_grid_
double	dt_
std::string	fixed_frame_id_
polygon	footprint_p
float	footprint_radius_
bool	has_cloud_
bool	has_collision_at_now_
bool	has_twist_
ros::Duration	hold_
ros::Time	hold_off_
double	hz_
ros::Time	last_cloud_stamp_
ros::Time	last_disable_cmd_
double	max_values_ [2]
ros::NodeHandle	nh_
std::unique_ptr< dynamic_reconfigure::Server< SafetyLimiterConfig > >	parameter_server_
boost::recursive_mutex	parameter_server_mutex_
ros::NodeHandle	pnh_
ros::Publisher	pub_cloud_
ros::Publisher	pub_status_
ros::Publisher	pub_twist_
double	r_lim_
ros::Time	stuck_started_since_
std::vector< ros::Subscriber >	sub_clouds_
ros::Subscriber	sub_disable_
ros::Subscriber	sub_twist_
ros::Subscriber	sub_watchdog_
tf2_ros::Buffer	tfbuf_
tf2_ros::TransformListener	tfl_
double	timeout_
double	tmax_
geometry_msgs::Twist	twist_
double	vel_ [2]
ros::Duration	watchdog_interval_
bool	watchdog_stop_
ros::Timer	watchdog_timer_
double	yaw_escape_
double	yaw_margin_
double	z_range_ [2]

Static Protected Attributes
constexpr static float	EPSILON = 1e-6

Detailed Description

Definition at line 101 of file safety_limiter.cpp.

Constructor & Destructor Documentation

SafetyLimiterNode()

safety_limiter::SafetyLimiterNode::SafetyLimiterNode ( )

inline

Definition at line 159 of file safety_limiter.cpp.

Member Function Documentation

cbCloud()

void safety_limiter::SafetyLimiterNode::cbCloud ( const sensor_msgs::PointCloud2::ConstPtr &  msg )

inlineprotected

Definition at line 736 of file safety_limiter.cpp.

cbDisable()

void safety_limiter::SafetyLimiterNode::cbDisable ( const std_msgs::Bool::ConstPtr &  msg )

inlineprotected

Definition at line 770 of file safety_limiter.cpp.

cbParameter()

void safety_limiter::SafetyLimiterNode::cbParameter ( const SafetyLimiterConfig &  config, const uint32_t    )

inlineprotected

Definition at line 320 of file safety_limiter.cpp.

cbPredictTimer()

void safety_limiter::SafetyLimiterNode::cbPredictTimer ( const ros::TimerEvent &  event )

inlineprotected

Definition at line 286 of file safety_limiter.cpp.

cbTwist()

void safety_limiter::SafetyLimiterNode::cbTwist ( const geometry_msgs::Twist::ConstPtr &  msg )

inlineprotected

Definition at line 710 of file safety_limiter.cpp.

cbWatchdogReset()

void safety_limiter::SafetyLimiterNode::cbWatchdogReset ( const std_msgs::Empty::ConstPtr &  msg )

inlineprotected

Definition at line 271 of file safety_limiter.cpp.

cbWatchdogTimer()

void safety_limiter::SafetyLimiterNode::cbWatchdogTimer ( const ros::TimerEvent &  event )

inlineprotected

Definition at line 276 of file safety_limiter.cpp.

diagnoseCollision()

void safety_limiter::SafetyLimiterNode::diagnoseCollision ( diagnostic_updater::DiagnosticStatusWrapper &  stat )

inlineprotected

Definition at line 778 of file safety_limiter.cpp.

limit()

geometry_msgs::Twist safety_limiter::SafetyLimiterNode::limit ( const geometry_msgs::Twist &  in )

inlineprotected

Definition at line 558 of file safety_limiter.cpp.

limitMaxVelocities()

geometry_msgs::Twist safety_limiter::SafetyLimiterNode::limitMaxVelocities ( const geometry_msgs::Twist &  in )

inlineprotected

Definition at line 580 of file safety_limiter.cpp.

predict()

double safety_limiter::SafetyLimiterNode::predict ( const geometry_msgs::Twist &  in )

inlineprotected

Definition at line 354 of file safety_limiter.cpp.

spin()

void safety_limiter::SafetyLimiterNode::spin ( )

inline

Definition at line 256 of file safety_limiter.cpp.

Member Data Documentation

acc_

double safety_limiter::SafetyLimiterNode::acc_[2]

protected

Definition at line 127 of file safety_limiter.cpp.

allow_empty_cloud_

bool safety_limiter::SafetyLimiterNode::allow_empty_cloud_

protected

Definition at line 146 of file safety_limiter.cpp.

base_frame_id_

std::string safety_limiter::SafetyLimiterNode::base_frame_id_

protected

Definition at line 140 of file safety_limiter.cpp.

cloud_accum_

pcl::PointCloud<pcl::PointXYZ>::Ptr safety_limiter::SafetyLimiterNode::cloud_accum_

protected

Definition at line 121 of file safety_limiter.cpp.

cloud_clear_

bool safety_limiter::SafetyLimiterNode::cloud_clear_

protected

Definition at line 122 of file safety_limiter.cpp.

d_escape_

double safety_limiter::SafetyLimiterNode::d_escape_

protected

Definition at line 131 of file safety_limiter.cpp.

d_margin_

double safety_limiter::SafetyLimiterNode::d_margin_

protected

Definition at line 130 of file safety_limiter.cpp.

diag_updater_

diagnostic_updater::Updater safety_limiter::SafetyLimiterNode::diag_updater_

protected

Definition at line 156 of file safety_limiter.cpp.

disable_timeout_

double safety_limiter::SafetyLimiterNode::disable_timeout_

protected

Definition at line 125 of file safety_limiter.cpp.

downsample_grid_

double safety_limiter::SafetyLimiterNode::downsample_grid_

protected

Definition at line 138 of file safety_limiter.cpp.

dt_

double safety_limiter::SafetyLimiterNode::dt_

protected

Definition at line 129 of file safety_limiter.cpp.

EPSILON

constexpr static float safety_limiter::SafetyLimiterNode::EPSILON = 1e-6

staticconstexprprotected

Definition at line 154 of file safety_limiter.cpp.

fixed_frame_id_

std::string safety_limiter::SafetyLimiterNode::fixed_frame_id_

protected

Definition at line 139 of file safety_limiter.cpp.

footprint_p

polygon safety_limiter::SafetyLimiterNode::footprint_p

protected

Definition at line 708 of file safety_limiter.cpp.

footprint_radius_

float safety_limiter::SafetyLimiterNode::footprint_radius_

protected

Definition at line 137 of file safety_limiter.cpp.

has_cloud_

bool safety_limiter::SafetyLimiterNode::has_cloud_

protected

Definition at line 149 of file safety_limiter.cpp.

has_collision_at_now_

bool safety_limiter::SafetyLimiterNode::has_collision_at_now_

protected

Definition at line 151 of file safety_limiter.cpp.

has_twist_

bool safety_limiter::SafetyLimiterNode::has_twist_

protected

Definition at line 150 of file safety_limiter.cpp.

hold_

ros::Duration safety_limiter::SafetyLimiterNode::hold_

protected

Definition at line 143 of file safety_limiter.cpp.

hold_off_

ros::Time safety_limiter::SafetyLimiterNode::hold_off_

protected

Definition at line 144 of file safety_limiter.cpp.

hz_

double safety_limiter::SafetyLimiterNode::hz_

protected

Definition at line 123 of file safety_limiter.cpp.

last_cloud_stamp_

ros::Time safety_limiter::SafetyLimiterNode::last_cloud_stamp_

protected

Definition at line 120 of file safety_limiter.cpp.

last_disable_cmd_

ros::Time safety_limiter::SafetyLimiterNode::last_disable_cmd_

protected

Definition at line 142 of file safety_limiter.cpp.

max_values_

double safety_limiter::SafetyLimiterNode::max_values_[2]

protected

Definition at line 135 of file safety_limiter.cpp.

nh_

ros::NodeHandle safety_limiter::SafetyLimiterNode::nh_

protected

Definition at line 104 of file safety_limiter.cpp.

parameter_server_

std::unique_ptr<dynamic_reconfigure::Server<SafetyLimiterConfig> > safety_limiter::SafetyLimiterNode::parameter_server_

protected

Definition at line 117 of file safety_limiter.cpp.

parameter_server_mutex_

boost::recursive_mutex safety_limiter::SafetyLimiterNode::parameter_server_mutex_

protected

Definition at line 116 of file safety_limiter.cpp.

pnh_

ros::NodeHandle safety_limiter::SafetyLimiterNode::pnh_

protected

Definition at line 105 of file safety_limiter.cpp.

pub_cloud_

ros::Publisher safety_limiter::SafetyLimiterNode::pub_cloud_

protected

Definition at line 107 of file safety_limiter.cpp.

pub_status_

ros::Publisher safety_limiter::SafetyLimiterNode::pub_status_

protected

Definition at line 108 of file safety_limiter.cpp.

pub_twist_

ros::Publisher safety_limiter::SafetyLimiterNode::pub_twist_

protected

Definition at line 106 of file safety_limiter.cpp.

r_lim_

double safety_limiter::SafetyLimiterNode::r_lim_

protected

Definition at line 134 of file safety_limiter.cpp.

stuck_started_since_

ros::Time safety_limiter::SafetyLimiterNode::stuck_started_since_

protected

Definition at line 152 of file safety_limiter.cpp.

sub_clouds_

std::vector<ros::Subscriber> safety_limiter::SafetyLimiterNode::sub_clouds_

protected

Definition at line 110 of file safety_limiter.cpp.

sub_disable_

ros::Subscriber safety_limiter::SafetyLimiterNode::sub_disable_

protected

Definition at line 111 of file safety_limiter.cpp.

sub_twist_

ros::Subscriber safety_limiter::SafetyLimiterNode::sub_twist_

protected

Definition at line 109 of file safety_limiter.cpp.

sub_watchdog_

ros::Subscriber safety_limiter::SafetyLimiterNode::sub_watchdog_

protected

Definition at line 112 of file safety_limiter.cpp.

tfbuf_

tf2_ros::Buffer safety_limiter::SafetyLimiterNode::tfbuf_

protected

Definition at line 114 of file safety_limiter.cpp.

tfl_

tf2_ros::TransformListener safety_limiter::SafetyLimiterNode::tfl_

protected

Definition at line 115 of file safety_limiter.cpp.

timeout_

double safety_limiter::SafetyLimiterNode::timeout_

protected

Definition at line 124 of file safety_limiter.cpp.

tmax_

double safety_limiter::SafetyLimiterNode::tmax_

protected

Definition at line 128 of file safety_limiter.cpp.

twist_

geometry_msgs::Twist safety_limiter::SafetyLimiterNode::twist_

protected

Definition at line 119 of file safety_limiter.cpp.

vel_

double safety_limiter::SafetyLimiterNode::vel_[2]

protected

Definition at line 126 of file safety_limiter.cpp.

watchdog_interval_

ros::Duration safety_limiter::SafetyLimiterNode::watchdog_interval_

protected

Definition at line 145 of file safety_limiter.cpp.

watchdog_stop_

bool safety_limiter::SafetyLimiterNode::watchdog_stop_

protected

Definition at line 148 of file safety_limiter.cpp.

watchdog_timer_

ros::Timer safety_limiter::SafetyLimiterNode::watchdog_timer_

protected

Definition at line 113 of file safety_limiter.cpp.

yaw_escape_

double safety_limiter::SafetyLimiterNode::yaw_escape_

protected

Definition at line 133 of file safety_limiter.cpp.

yaw_margin_

double safety_limiter::SafetyLimiterNode::yaw_margin_

protected

Definition at line 132 of file safety_limiter.cpp.

z_range_

double safety_limiter::SafetyLimiterNode::z_range_[2]

protected

Definition at line 136 of file safety_limiter.cpp.

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

• safety_limiter.cpp