Class SlotcarCommon

Defined in File slotcar_common.hpp

Nested Relationships

Nested Types

Class Documentation

class SlotcarCommon

Public Types

using AttachCartCallback = std::function<bool(bool)>

using PathRequestCallback = std::function<void(const rmf_fleet_msgs::msg::PathRequest::SharedPtr)>

Public Functions

SlotcarCommon()

rclcpp::Logger logger() const

template<typename SdfPtrT> void read_sdf(SdfPtrT &sdf)

void set_model_name(const std::string &model_name)

std::string model_name() const

void init_ros_node(const rclcpp::Node::SharedPtr node)

inline void set_attach_cart_callback(AttachCartCallback cb)

UpdateResult update(const Eigen::Isometry3d &pose, const std::vector<Eigen::Vector3d> &obstacle_positions, const double time)

bool emergency_stop(const std::vector<Eigen::Vector3d> &obstacle_positions, const Eigen::Vector3d &current_heading)

std::array<double, 2> calculate_control_signals(const std::array<double, 2> &curr_velocities, const std::pair<double, double> &displacements, const double dt, const double target_velocity_now = 0.0, const double target_velocity_at_dest = 0.0, const std::optional<double> &linear_speed_limit = std::nullopt) const

std::array<double, 2> calculate_joint_control_signals(const std::array<double, 2> &w_tire, const std::pair<double, double> &displacements, const double dt, const double target_linear_speed_now = 0.0, const double target_linear_speed_destination = 0.0, const std::optional<double> &linear_speed_limit = std::nullopt) const

void charge_state_cb(const std::string &name, bool selected)

void publish_robot_state(const double time)

Eigen::Vector3d get_lookahead_point() const

inline void set_path_request_callback(PathRequestCallback cb)

Public Members

bool display_markers = false

struct UpdateResult

Public Members

double v = 0.0

double w = 0.0

double target_linear_speed_now = 0.0

double target_linear_speed_destination = 0.0

std::optional<double> max_speed = std::nullopt