Public Member Functions | Public Attributes | Protected Types | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes | List of all members
TrajectoryTrackerTest Class Reference

#include <trajectory_tracker_test.h>

Inheritance diagram for TrajectoryTrackerTest:
Inheritance graph
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Public Member Functions

double getCmdVelFrameRate () const
 
bool getConfig (ParamType &config) const
 
void initState (const Eigen::Vector2d &pos, const float yaw)
 
void initState (const tf2::Transform &pose)
 
void publishPath (const std::vector< Eigen::Vector3d > &poses)
 
void publishPathVelocity (const std::vector< Eigen::Vector4d > &poses)
 
void publishTransform ()
 
void publishTransform (const nav_msgs::Odometry &odom)
 
bool setConfig (const ParamType &config)
 
 TrajectoryTrackerTest ()
 
void waitUntilStart (const std::function< void()> func=nullptr)
 

Public Attributes

geometry_msgs::Twist::ConstPtr cmd_vel_
 
ros::Duration delay_
 
tf2::Transform pose_
 
trajectory_tracker_msgs::TrajectoryTrackerStatus::ConstPtr status_
 

Protected Types

using ParamType = trajectory_tracker::TrajectoryTrackerConfig
 

Protected Member Functions

Eigen::Vector2d getPos () const
 
double getYaw () const
 

Protected Attributes

std::unique_ptr< dynamic_reconfigure::Client< ParamType > > dynamic_reconfigure_client_
 
double error_ang_
 
double error_large_lin_
 
double error_lin_
 
std_msgs::Header last_path_header_
 

Private Member Functions

void cbCmdVel (const geometry_msgs::Twist::ConstPtr &msg)
 
void cbStatus (const trajectory_tracker_msgs::TrajectoryTrackerStatus::ConstPtr &msg)
 

Private Attributes

int cmd_vel_count_
 
ros::Time cmd_vel_time_
 
ros::Time initial_cmd_vel_time_
 
ros::NodeHandle nh_
 
std::list< nav_msgs::Odometry > odom_buffer_
 
ros::NodeHandle pnh_
 
ros::Publisher pub_odom_
 
ros::Publisher pub_path_
 
ros::Publisher pub_path_vel_
 
ros::Subscriber sub_cmd_vel_
 
ros::Subscriber sub_status_
 
tf2_ros::TransformBroadcaster tfb_
 
ros::Time trans_stamp_last_
 

Detailed Description

Definition at line 62 of file trajectory_tracker_test.h.

Member Typedef Documentation

◆ ParamType

using TrajectoryTrackerTest::ParamType = trajectory_tracker::TrajectoryTrackerConfig
protected

Definition at line 86 of file trajectory_tracker_test.h.

Constructor & Destructor Documentation

◆ TrajectoryTrackerTest()

TrajectoryTrackerTest::TrajectoryTrackerTest ( )
inline

Definition at line 123 of file trajectory_tracker_test.h.

Member Function Documentation

◆ cbCmdVel()

void TrajectoryTrackerTest::cbCmdVel ( const geometry_msgs::Twist::ConstPtr &  msg)
inlineprivate

Definition at line 103 of file trajectory_tracker_test.h.

◆ cbStatus()

void TrajectoryTrackerTest::cbStatus ( const trajectory_tracker_msgs::TrajectoryTrackerStatus::ConstPtr &  msg)
inlineprivate

Definition at line 99 of file trajectory_tracker_test.h.

◆ getCmdVelFrameRate()

double TrajectoryTrackerTest::getCmdVelFrameRate ( ) const
inline

Definition at line 308 of file trajectory_tracker_test.h.

◆ getConfig()

bool TrajectoryTrackerTest::getConfig ( ParamType &  config) const
inline

Definition at line 313 of file trajectory_tracker_test.h.

◆ getPos()

Eigen::Vector2d TrajectoryTrackerTest::getPos ( ) const
inlineprotected

Definition at line 93 of file trajectory_tracker_test.h.

◆ getYaw()

double TrajectoryTrackerTest::getYaw ( ) const
inlineprotected

Definition at line 89 of file trajectory_tracker_test.h.

◆ initState() [1/2]

void TrajectoryTrackerTest::initState ( const Eigen::Vector2d &  pos,
const float  yaw 
)
inline

Definition at line 179 of file trajectory_tracker_test.h.

◆ initState() [2/2]

void TrajectoryTrackerTest::initState ( const tf2::Transform &  pose)
inline

Definition at line 153 of file trajectory_tracker_test.h.

◆ publishPath()

void TrajectoryTrackerTest::publishPath ( const std::vector< Eigen::Vector3d > &  poses)
inline

Definition at line 206 of file trajectory_tracker_test.h.

◆ publishPathVelocity()

void TrajectoryTrackerTest::publishPathVelocity ( const std::vector< Eigen::Vector4d > &  poses)
inline

Definition at line 230 of file trajectory_tracker_test.h.

◆ publishTransform() [1/2]

void TrajectoryTrackerTest::publishTransform ( )
inline

Definition at line 257 of file trajectory_tracker_test.h.

◆ publishTransform() [2/2]

void TrajectoryTrackerTest::publishTransform ( const nav_msgs::Odometry &  odom)
inline

Definition at line 274 of file trajectory_tracker_test.h.

◆ setConfig()

bool TrajectoryTrackerTest::setConfig ( const ParamType &  config)
inline

Definition at line 327 of file trajectory_tracker_test.h.

◆ waitUntilStart()

void TrajectoryTrackerTest::waitUntilStart ( const std::function< void()>  func = nullptr)
inline

Definition at line 184 of file trajectory_tracker_test.h.

Member Data Documentation

◆ cmd_vel_

geometry_msgs::Twist::ConstPtr TrajectoryTrackerTest::cmd_vel_

Definition at line 120 of file trajectory_tracker_test.h.

◆ cmd_vel_count_

int TrajectoryTrackerTest::cmd_vel_count_
private

Definition at line 77 of file trajectory_tracker_test.h.

◆ cmd_vel_time_

ros::Time TrajectoryTrackerTest::cmd_vel_time_
private

Definition at line 73 of file trajectory_tracker_test.h.

◆ delay_

ros::Duration TrajectoryTrackerTest::delay_

Definition at line 121 of file trajectory_tracker_test.h.

◆ dynamic_reconfigure_client_

std::unique_ptr<dynamic_reconfigure::Client<ParamType> > TrajectoryTrackerTest::dynamic_reconfigure_client_
protected

Definition at line 87 of file trajectory_tracker_test.h.

◆ error_ang_

double TrajectoryTrackerTest::error_ang_
protected

Definition at line 85 of file trajectory_tracker_test.h.

◆ error_large_lin_

double TrajectoryTrackerTest::error_large_lin_
protected

Definition at line 84 of file trajectory_tracker_test.h.

◆ error_lin_

double TrajectoryTrackerTest::error_lin_
protected

Definition at line 83 of file trajectory_tracker_test.h.

◆ initial_cmd_vel_time_

ros::Time TrajectoryTrackerTest::initial_cmd_vel_time_
private

Definition at line 76 of file trajectory_tracker_test.h.

◆ last_path_header_

std_msgs::Header TrajectoryTrackerTest::last_path_header_
protected

Definition at line 82 of file trajectory_tracker_test.h.

◆ nh_

ros::NodeHandle TrajectoryTrackerTest::nh_
private

Definition at line 65 of file trajectory_tracker_test.h.

◆ odom_buffer_

std::list<nav_msgs::Odometry> TrajectoryTrackerTest::odom_buffer_
private

Definition at line 79 of file trajectory_tracker_test.h.

◆ pnh_

ros::NodeHandle TrajectoryTrackerTest::pnh_
private

Definition at line 66 of file trajectory_tracker_test.h.

◆ pose_

tf2::Transform TrajectoryTrackerTest::pose_

Definition at line 118 of file trajectory_tracker_test.h.

◆ pub_odom_

ros::Publisher TrajectoryTrackerTest::pub_odom_
private

Definition at line 71 of file trajectory_tracker_test.h.

◆ pub_path_

ros::Publisher TrajectoryTrackerTest::pub_path_
private

Definition at line 69 of file trajectory_tracker_test.h.

◆ pub_path_vel_

ros::Publisher TrajectoryTrackerTest::pub_path_vel_
private

Definition at line 70 of file trajectory_tracker_test.h.

◆ status_

trajectory_tracker_msgs::TrajectoryTrackerStatus::ConstPtr TrajectoryTrackerTest::status_

Definition at line 119 of file trajectory_tracker_test.h.

◆ sub_cmd_vel_

ros::Subscriber TrajectoryTrackerTest::sub_cmd_vel_
private

Definition at line 67 of file trajectory_tracker_test.h.

◆ sub_status_

ros::Subscriber TrajectoryTrackerTest::sub_status_
private

Definition at line 68 of file trajectory_tracker_test.h.

◆ tfb_

tf2_ros::TransformBroadcaster TrajectoryTrackerTest::tfb_
private

Definition at line 72 of file trajectory_tracker_test.h.

◆ trans_stamp_last_

ros::Time TrajectoryTrackerTest::trans_stamp_last_
private

Definition at line 74 of file trajectory_tracker_test.h.

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

trajectory_tracker
Author(s): Atsushi Watanabe
autogenerated on Fri May 16 2025 02:15:20