#include <ROSAgent.h>

Inheritance diagram for collvoid::ROSAgent:

Public Types
typedef boost::shared_ptr < ROSAgent >	ROSAgentPtr
Public Member Functions
void	addNHConstraints (double min_dist, Vector2 pref_velocity)
void	amclPoseArrayWeightedCallback (const amcl::PoseArrayWeighted::ConstPtr &msg)
void	baseScanCallback (const sensor_msgs::LaserScan::ConstPtr &msg)
bool	compareConvexHullPointsPosition (const ConvexHullPoint &p1, const ConvexHullPoint &p2)
bool	compareNeighborsPositions (const AgentPtr &agent1, const AgentPtr &agent2)
bool	compareVectorPosition (const collvoid::Vector2 &v1, const collvoid::Vector2 &v2)
void	computeClearpathVelocity (Vector2 pref_velocity)
void	computeNewLocUncertainty ()
void	computeNewMinkowskiFootprint ()
void	computeNewVelocity (Vector2 pref_velocity, geometry_msgs::Twist &cmd_vel)
void	computeObstacleLine (Vector2 &point)
void	computeObstacles ()
void	computeOrcaVelocity (Vector2 pref_velocity)
void	computeSampledVelocity (Vector2 pref_velocity)
geometry_msgs::PolygonStamped	createFootprintMsgFromVector2 (const std::vector< Vector2 > &footprint)
void	createObstacleLine (std::vector< Vector2 > &own_footprint, Vector2 &obst1, Vector2 &obst2)
double	getDistToFootprint (collvoid::Vector2 &point)
void	init (ros::NodeHandle private_nh, tf::TransformListener *tf)
void	initAsMe (tf::TransformListener *tf)
void	initCommon (ros::NodeHandle nh)
void	initParams (ros::NodeHandle private_nh)
bool	isHoloRobot ()
ros::Time	lastSeen ()
collvoid::Vector2	LineSegmentToLineSegmentIntersection (double x1, double y1, double x2, double y2, double x3, double y3, double x4, double y4)
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
bool	pointInNeighbor (collvoid::Vector2 &point)
void	positionShareCallback (const collvoid_msgs::PoseTwistWithCovariance::ConstPtr &msg)
void	publishMePoseTwist ()
	ROSAgent ()
std::vector< Vector2 >	rotateFootprint (const std::vector< Vector2 > &footprint, double angle)
void	setAccelerationConstraints (double acc_lim_x, double acc_lim_y, double acc_lim_th)
void	setAgentParams (ROSAgent *agent)
void	setClearpath (bool clearpath)
void	setConvex (bool convex)
void	setDeleteObservations (bool delete_observations)
void	setFootprint (geometry_msgs::PolygonStamped footprint)
void	setFootprintRadius (double footprint_radius)
void	setGlobalFrame (std::string global_frame)
void	setId (std::string id)
void	setIsHoloRobot (bool holo_robot)
void	setLocalizationEps (double eps)
void	setMaxVelWithObstacles (double max_vel_with_obstacles)
void	setMinkowskiFootprintVector2 (geometry_msgs::PolygonStamped minkowski_footprint)
void	setMinMaxErrorHolo (double min_error_holo, double max_error_holo)
void	setMinMaxSpeeds (double min_vel_x, double max_vel_x, double min_vel_y, double max_vel_y, double min_vel_th, double max_vel_th, double min_vel_th_inplace)
void	setNumSamples (int num_samples)
void	setOrca (bool orca)
void	setPublishMePeriod (double publish_me_period)
void	setPublishPositionsPeriod (double publish_positions_period)
void	setRobotBaseFrame (std::string base_link)
void	setThresholdLastSeen (double threshold_last_seen)
void	setTimeHorizonObst (double time_horizon_obst)
void	setTimeToHolo (double time_to_holo)
void	setTypeVO (int type_vo)
void	setUseTruncation (bool use_truncation)
void	setWheelBase (double wheel_base)
void	sortObstacleLines ()
geometry_msgs::PoseStamped	transformMapPoseToBaseLink (geometry_msgs::PoseStamped in)
void	updateAllNeighbors ()
double	vMaxAng ()
virtual	~ROSAgent ()
Public Attributes
double	acc_lim_th_
double	acc_lim_x_
double	acc_lim_y_
ros::Subscriber	amcl_posearray_sub_
std::string	base_frame_
nav_msgs::Odometry	base_odom_
boost::mutex	convex_lock_
double	cur_loc_unc_radius_
bool	delete_observations_
double	eps_
std::vector< std::pair < collvoid::Vector2, collvoid::Vector2 > >	footprint_lines_
geometry_msgs::PolygonStamped	footprint_msg_
double	footprint_radius_
std::string	global_frame_
bool	has_polygon_footprint_
bool	holo_robot_
collvoid::Vector2	holo_velocity_
std::string	id_
bool	initialized_
boost::shared_ptr < tf::MessageFilter < sensor_msgs::LaserScan > >	laser_notifier
message_filters::Subscriber < sensor_msgs::LaserScan >	laser_scan_sub_
ros::Time	last_seen_
ros::Time	last_time_me_published_
ros::Time	last_time_positions_published_
ros::Publisher	lines_pub_
double	max_error_holo_
double	max_vel_th_
double	max_vel_with_obstacles_
double	max_vel_x_
double	max_vel_y_
boost::mutex	me_lock_
ros::Publisher	me_pub_
double	min_dist_obst_
double	min_error_holo_
double	min_vel_th_
double	min_vel_th_inplace_
double	min_vel_x_
double	min_vel_y_
std::vector< Vector2 >	minkowski_footprint_
boost::mutex	neighbors_lock_
ros::Publisher	neighbors_pub_
int	num_samples_
boost::mutex	obstacle_lock_
std::vector< collvoid::Vector2 >	obstacle_points_
std::vector< Obstacle >	obstacles_from_laser_
ros::Publisher	obstacles_pub_
ros::Subscriber	odom_sub_
ros::Publisher	polygon_pub_
std::vector< std::pair< double, geometry_msgs::PoseStamped > >	pose_array_weighted_
ros::Publisher	position_share_pub_
ros::Subscriber	position_share_sub_
laser_geometry::LaserProjection	projector_
double	publish_me_period_
double	publish_positions_period_
ros::Publisher	samples_pub_
ros::Publisher	speed_pub_
bool	standalone_
tf::TransformListener *	tf_
double	threshold_last_seen_
double	time_horizon_obst_
double	time_to_holo_
bool	use_obstacles_
ros::Publisher	vo_pub_
double	wheel_base_

Detailed Description

Definition at line 60 of file ROSAgent.h.

Member Typedef Documentation

typedef boost::shared_ptr<ROSAgent> collvoid::ROSAgent::ROSAgentPtr

Definition at line 62 of file ROSAgent.h.

Constructor & Destructor Documentation

collvoid::ROSAgent::ROSAgent ( )

Definition at line 65 of file ROSAgent.cpp.

virtual collvoid::ROSAgent::~ROSAgent ( ) [inline, virtual]

Definition at line 66 of file ROSAgent.h.

Member Function Documentation

void collvoid::ROSAgent::addNHConstraints	(	double	min_dist,
		Vector2	pref_velocity
	)

Definition at line 356 of file ROSAgent.cpp.

void collvoid::ROSAgent::amclPoseArrayWeightedCallback ( const amcl::PoseArrayWeighted::ConstPtr & msg )

Definition at line 839 of file ROSAgent.cpp.

void collvoid::ROSAgent::baseScanCallback ( const sensor_msgs::LaserScan::ConstPtr & msg )

Definition at line 1109 of file ROSAgent.cpp.

bool collvoid::ROSAgent::compareConvexHullPointsPosition	(	const ConvexHullPoint &	p1,
		const ConvexHullPoint &	p2
	)

Definition at line 437 of file ROSAgent.cpp.

bool collvoid::ROSAgent::compareNeighborsPositions	(	const AgentPtr &	agent1,
		const AgentPtr &	agent2
	)

Definition at line 432 of file ROSAgent.cpp.

bool collvoid::ROSAgent::compareVectorPosition	(	const collvoid::Vector2 &	v1,
		const collvoid::Vector2 &	v2
	)

Definition at line 442 of file ROSAgent.cpp.

void collvoid::ROSAgent::computeClearpathVelocity ( Vector2 pref_velocity )

Reimplemented from collvoid::Agent.

Definition at line 311 of file ROSAgent.cpp.

void collvoid::ROSAgent::computeNewLocUncertainty ( )

Definition at line 1016 of file ROSAgent.cpp.

void collvoid::ROSAgent::computeNewMinkowskiFootprint ( )

Definition at line 1040 of file ROSAgent.cpp.

void collvoid::ROSAgent::computeNewVelocity	(	Vector2	pref_velocity,
		geometry_msgs::Twist &	cmd_vel
	)

Definition at line 215 of file ROSAgent.cpp.

void collvoid::ROSAgent::computeObstacleLine ( Vector2 & point )

Definition at line 494 of file ROSAgent.cpp.

void collvoid::ROSAgent::computeObstacles ( )

Definition at line 390 of file ROSAgent.cpp.

void collvoid::ROSAgent::computeOrcaVelocity ( Vector2 pref_velocity )

Definition at line 347 of file ROSAgent.cpp.

void collvoid::ROSAgent::computeSampledVelocity ( Vector2 pref_velocity )

Reimplemented from collvoid::Agent.

Definition at line 327 of file ROSAgent.cpp.

geometry_msgs::PolygonStamped collvoid::ROSAgent::createFootprintMsgFromVector2 ( const std::vector< Vector2 > & footprint )

Definition at line 978 of file ROSAgent.cpp.

void collvoid::ROSAgent::createObstacleLine	(	std::vector< Vector2 > &	own_footprint,
		Vector2 &	obst1,
		Vector2 &	obst2
	)

Definition at line 517 of file ROSAgent.cpp.

double collvoid::ROSAgent::getDistToFootprint ( collvoid::Vector2 & point )

Definition at line 478 of file ROSAgent.cpp.

void collvoid::ROSAgent::init	(	ros::NodeHandle	private_nh,
		tf::TransformListener *	tf
	)

Definition at line 72 of file ROSAgent.cpp.

void collvoid::ROSAgent::initAsMe ( tf::TransformListener * tf )

Definition at line 172 of file ROSAgent.cpp.

void collvoid::ROSAgent::initCommon ( ros::NodeHandle nh )

Definition at line 183 of file ROSAgent.cpp.

void collvoid::ROSAgent::initParams ( ros::NodeHandle private_nh )

Definition at line 143 of file ROSAgent.cpp.

bool collvoid::ROSAgent::isHoloRobot ( )

Definition at line 788 of file ROSAgent.cpp.

ros::Time collvoid::ROSAgent::lastSeen ( )

Definition at line 792 of file ROSAgent.cpp.

collvoid::Vector2 collvoid::ROSAgent::LineSegmentToLineSegmentIntersection	(	double	x1,
		double	y1,
		double	x2,
		double	y2,
		double	x3,
		double	y3,
		double	x4,
		double	y4
	)

Definition at line 451 of file ROSAgent.cpp.

void collvoid::ROSAgent::odomCallback ( const nav_msgs::Odometry::ConstPtr & msg )

Definition at line 868 of file ROSAgent.cpp.

bool collvoid::ROSAgent::pointInNeighbor ( collvoid::Vector2 & point )

Definition at line 470 of file ROSAgent.cpp.

void collvoid::ROSAgent::positionShareCallback ( const collvoid_msgs::PoseTwistWithCovariance::ConstPtr & msg )

Definition at line 796 of file ROSAgent.cpp.

void collvoid::ROSAgent::publishMePoseTwist ( )

Definition at line 956 of file ROSAgent.cpp.

std::vector< Vector2 > collvoid::ROSAgent::rotateFootprint	(	const std::vector< Vector2 > &	footprint,
		double	angle
	)

Definition at line 993 of file ROSAgent.cpp.

void collvoid::ROSAgent::setAccelerationConstraints	(	double	acc_lim_x,
		double	acc_lim_y,
		double	acc_lim_th
	)

Definition at line 706 of file ROSAgent.cpp.

void collvoid::ROSAgent::setAgentParams ( ROSAgent * agent )

Definition at line 913 of file ROSAgent.cpp.

void collvoid::ROSAgent::setClearpath ( bool clearpath )

Definition at line 776 of file ROSAgent.cpp.

void collvoid::ROSAgent::setConvex ( bool convex )

Definition at line 772 of file ROSAgent.cpp.

void collvoid::ROSAgent::setDeleteObservations ( bool delete_observations )

Definition at line 743 of file ROSAgent.cpp.

void collvoid::ROSAgent::setFootprint ( geometry_msgs::PolygonStamped footprint )

Definition at line 646 of file ROSAgent.cpp.

void collvoid::ROSAgent::setFootprintRadius ( double footprint_radius )

Definition at line 670 of file ROSAgent.cpp.

void collvoid::ROSAgent::setGlobalFrame ( std::string global_frame )

Definition at line 690 of file ROSAgent.cpp.

void collvoid::ROSAgent::setId ( std::string id )

Definition at line 694 of file ROSAgent.cpp.

void collvoid::ROSAgent::setIsHoloRobot ( bool holo_robot )

Definition at line 682 of file ROSAgent.cpp.

void collvoid::ROSAgent::setLocalizationEps ( double eps )

Definition at line 751 of file ROSAgent.cpp.

void collvoid::ROSAgent::setMaxVelWithObstacles ( double max_vel_with_obstacles )

Definition at line 698 of file ROSAgent.cpp.

void collvoid::ROSAgent::setMinkowskiFootprintVector2 ( geometry_msgs::PolygonStamped minkowski_footprint )

Definition at line 675 of file ROSAgent.cpp.

void collvoid::ROSAgent::setMinMaxErrorHolo	(	double	min_error_holo,
		double	max_error_holo
	)

Definition at line 738 of file ROSAgent.cpp.

void collvoid::ROSAgent::setMinMaxSpeeds	(	double	min_vel_x,
		double	max_vel_x,
		double	min_vel_y,
		double	max_vel_y,
		double	min_vel_th,
		double	max_vel_th,
		double	min_vel_th_inplace
	)