Class Spin

Defined in File spin.hpp

Inheritance Relationships

Base Type

public nav2_behaviors::TimedBehavior< SpinAction > (Template Class TimedBehavior)

Class Documentation

class Spin : public nav2_behaviors::TimedBehavior<SpinAction>

An action server behavior for spinning in.

Public Functions

Spin(): A constructor for nav2_behaviors::Spin.

~Spin()

Status onRun(const std::shared_ptr<const SpinAction::Goal> command) override

Initialization to run behavior.

Parameters:: command – Goal to execute
Returns:: Status of behavior

virtual void onConfigure() override: Configuration of behavior action.

virtual Status onCycleUpdate() override

Loop function to run behavior.

Returns:: Status of behavior

Protected Functions

bool isCollisionFree(const double &distance, geometry_msgs::msg::Twist *cmd_vel, geometry_msgs::msg::Pose2D &pose2d)

Check if pose is collision free.

Parameters:

distance – Distance to check forward
cmd_vel – current commanded velocity
pose2d – Current pose

Returns:

is collision free or not

Protected Attributes

SpinAction::Feedback::SharedPtr feedback_

double min_rotational_vel_

double max_rotational_vel_

double rotational_acc_lim_

double cmd_yaw_

double prev_yaw_

double relative_yaw_

double simulate_ahead_time_

rclcpp::Duration command_time_allowance_ = {0, 0}

rclcpp::Time end_time_