NodeClass Class Reference

List of all members.

Public Member Functions
void	actionCB (const move_base_msgs::MoveBaseGoalConstPtr &goal)
	NodeClass (std::string name)
void	odometryCB (const nav_msgs::Odometry::ConstPtr &odometry)
void	topicCB (const geometry_msgs::PoseStamped::ConstPtr &goal)
	~NodeClass ()
Public Attributes
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction > *	action_client_
ros::Publisher	action_goal_pub_
actionlib::SimpleActionServer < move_base_msgs::MoveBaseAction >	as_
ros::Subscriber	goal_sub_
ros::NodeHandle	nh_
ros::Subscriber	odometry_sub_
move_base_msgs::MoveBaseResult	result_
ros::Publisher	topic_pub_command_
Private Member Functions
double	getDistance2d (geometry_msgs::PoseStamped a, geometry_msgs::PoseStamped b)
double	getDistance2d (geometry_msgs::Point a, geometry_msgs::Point b)
geometry_msgs::PoseStamped	getRobotPoseGlobal ()
double	getThetaDiffRad (double target, double actual)
bool	notMovingDueToObstacle ()
void	performControllerStep ()
void	publishVelocitiesGlobal (double vx, double vy, double theta)
double	sign (double x)
void	stopMovement ()
geometry_msgs::PoseStamped	transformGoalToMap (geometry_msgs::PoseStamped goal_pose)
Private Attributes
bool	finished_
std::string	global_frame_
double	goal_abortion_time_
geometry_msgs::PoseStamped	goal_pose_global_
double	goal_threshold_
double	goal_threshold_rot_
double	kp_
double	kp_rot_
double	kv_
double	kv_rot_
double	last_time_
double	last_time_moving_
pthread_mutex_t	m_mutex
bool	move_
std::string	robot_frame_
geometry_msgs::PoseStamped	robot_pose_global_
geometry_msgs::Vector3Stamped	robot_twist_angular_robot_
geometry_msgs::Vector3Stamped	robot_twist_linear_robot_
double	slow_down_distance_
double	speed_threshold_
double	speed_threshold_rot_
tf::TransformListener	tf_listener_
double	theta_last_
double	v_max_
double	virt_mass_
double	virt_mass_rot_
double	vtheta_last_
double	vtheta_max_
double	vx_last_
double	vy_last_
double	x_last_
double	y_last_
geometry_msgs::PoseStamped	zero_pose_

---

Detailed Description

Definition at line 79 of file cob_linear_nav.cpp.

---

Constructor & Destructor Documentation

NodeClass::NodeClass

(

std::string

name

)

[inline]

Definition at line 99 of file cob_linear_nav.cpp.

NodeClass::~NodeClass

(

)

[inline]

Definition at line 279 of file cob_linear_nav.cpp.

---

Member Function Documentation

void NodeClass::actionCB

(

const move_base_msgs::MoveBaseGoalConstPtr &

goal

)

[inline]

Definition at line 201 of file cob_linear_nav.cpp.

double NodeClass::getDistance2d	(	geometry_msgs::PoseStamped	a,
		geometry_msgs::PoseStamped	b
	)		[private]

Definition at line 347 of file cob_linear_nav.cpp.

double NodeClass::getDistance2d	(	geometry_msgs::Point	a,
		geometry_msgs::Point	b
	)		[private]

Definition at line 351 of file cob_linear_nav.cpp.

geometry_msgs::PoseStamped NodeClass::getRobotPoseGlobal

(

)

[private]

Definition at line 335 of file cob_linear_nav.cpp.

double NodeClass::getThetaDiffRad	(	double	target,
		double	actual
	)		[private]

Definition at line 360 of file cob_linear_nav.cpp.

bool NodeClass::notMovingDueToObstacle

(

)

[private]

Definition at line 395 of file cob_linear_nav.cpp.

void NodeClass::odometryCB

(

const nav_msgs::Odometry::ConstPtr &

odometry

)

[inline]

Definition at line 266 of file cob_linear_nav.cpp.

void NodeClass::performControllerStep

(

)

[private]

Definition at line 415 of file cob_linear_nav.cpp.

void NodeClass::publishVelocitiesGlobal	(	double	vx,
		double	vy,
		double	theta
	)		[private]

Definition at line 365 of file cob_linear_nav.cpp.

double NodeClass::sign

(

double

x

)

[private]

Definition at line 355 of file cob_linear_nav.cpp.

void NodeClass::stopMovement

(

)

[private]

Definition at line 388 of file cob_linear_nav.cpp.

void NodeClass::topicCB

(

const geometry_msgs::PoseStamped::ConstPtr &

goal

)

[inline]

Definition at line 192 of file cob_linear_nav.cpp.

geometry_msgs::PoseStamped NodeClass::transformGoalToMap

(

geometry_msgs::PoseStamped

goal_pose

)

[private]

Definition at line 323 of file cob_linear_nav.cpp.

---

Member Data Documentation

actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction>* NodeClass::action_client_

Definition at line 95 of file cob_linear_nav.cpp.

ros::Publisher NodeClass::action_goal_pub_

Definition at line 86 of file cob_linear_nav.cpp.

actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> NodeClass::as_

Definition at line 91 of file cob_linear_nav.cpp.

bool NodeClass::finished_ [private]

Definition at line 293 of file cob_linear_nav.cpp.

std::string NodeClass::global_frame_ [private]

Definition at line 285 of file cob_linear_nav.cpp.

double NodeClass::goal_abortion_time_ [private]

Definition at line 291 of file cob_linear_nav.cpp.

geometry_msgs::PoseStamped NodeClass::goal_pose_global_ [private]

Definition at line 286 of file cob_linear_nav.cpp.

ros::Subscriber NodeClass::goal_sub_

Definition at line 88 of file cob_linear_nav.cpp.

double NodeClass::goal_threshold_ [private]

Definition at line 313 of file cob_linear_nav.cpp.

double NodeClass::goal_threshold_rot_ [private]

Definition at line 314 of file cob_linear_nav.cpp.

double NodeClass::kp_ [private]

Definition at line 315 of file cob_linear_nav.cpp.

double NodeClass::kp_rot_ [private]

Definition at line 316 of file cob_linear_nav.cpp.

double NodeClass::kv_ [private]

Definition at line 315 of file cob_linear_nav.cpp.

double NodeClass::kv_rot_ [private]

Definition at line 316 of file cob_linear_nav.cpp.

double NodeClass::last_time_ [private]

Definition at line 317 of file cob_linear_nav.cpp.

double NodeClass::last_time_moving_ [private]

Definition at line 319 of file cob_linear_nav.cpp.

pthread_mutex_t NodeClass::m_mutex [private]

Definition at line 295 of file cob_linear_nav.cpp.

bool NodeClass::move_ [private]

Definition at line 293 of file cob_linear_nav.cpp.

ros::NodeHandle NodeClass::nh_

Definition at line 83 of file cob_linear_nav.cpp.

ros::Subscriber NodeClass::odometry_sub_

Definition at line 88 of file cob_linear_nav.cpp.

move_base_msgs::MoveBaseResult NodeClass::result_

Definition at line 92 of file cob_linear_nav.cpp.

std::string NodeClass::robot_frame_ [private]

Definition at line 285 of file cob_linear_nav.cpp.

geometry_msgs::PoseStamped NodeClass::robot_pose_global_ [private]

Definition at line 288 of file cob_linear_nav.cpp.

geometry_msgs::Vector3Stamped NodeClass::robot_twist_angular_robot_ [private]

Definition at line 289 of file cob_linear_nav.cpp.

geometry_msgs::Vector3Stamped NodeClass::robot_twist_linear_robot_ [private]

Definition at line 289 of file cob_linear_nav.cpp.

double NodeClass::slow_down_distance_ [private]

Definition at line 291 of file cob_linear_nav.cpp.

double NodeClass::speed_threshold_ [private]

Definition at line 313 of file cob_linear_nav.cpp.

double NodeClass::speed_threshold_rot_ [private]

Definition at line 314 of file cob_linear_nav.cpp.

tf::TransformListener NodeClass::tf_listener_ [private]

Definition at line 284 of file cob_linear_nav.cpp.

double NodeClass::theta_last_ [private]

Definition at line 312 of file cob_linear_nav.cpp.

ros::Publisher NodeClass::topic_pub_command_

Definition at line 86 of file cob_linear_nav.cpp.

double NodeClass::v_max_ [private]

Definition at line 318 of file cob_linear_nav.cpp.

double NodeClass::virt_mass_ [private]

Definition at line 315 of file cob_linear_nav.cpp.

double NodeClass::virt_mass_rot_ [private]

Definition at line 316 of file cob_linear_nav.cpp.

double NodeClass::vtheta_last_ [private]

Definition at line 312 of file cob_linear_nav.cpp.

double NodeClass::vtheta_max_ [private]

Definition at line 318 of file cob_linear_nav.cpp.

double NodeClass::vx_last_ [private]

Definition at line 312 of file cob_linear_nav.cpp.

double NodeClass::vy_last_ [private]

Definition at line 312 of file cob_linear_nav.cpp.

double NodeClass::x_last_ [private]

Definition at line 312 of file cob_linear_nav.cpp.

double NodeClass::y_last_ [private]

Definition at line 312 of file cob_linear_nav.cpp.

geometry_msgs::PoseStamped NodeClass::zero_pose_ [private]

Definition at line 287 of file cob_linear_nav.cpp.

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

• cob_linear_nav.cpp