eband_trajectory_controller.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2010, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00034 *
00035 * Author: Christian Connette
00036 *********************************************************************/
00037 
00038 #ifndef EBAND_TRAJECTORY_CONTROLLER_H_
00039 #define EBAND_TRAJECTORY_CONTROLLER_H_
00040 
00041 #include <ros/ros.h>
00042 #include <ros/assert.h>
00043 
00044 // classes which are part of this package
00045 #include <eband_local_planner/conversions_and_types.h>
00046 #include <eband_local_planner/eband_visualization.h>
00047 
00048 // geometry_msg
00049 #include <geometry_msgs/PoseStamped.h>
00050 #include <geometry_msgs/Pose.h>
00051 #include <geometry_msgs/Pose2D.h>
00052 #include <geometry_msgs/Twist.h>
00053 
00054 // nav_msgs
00055 #include <nav_msgs/Odometry.h>
00056 
00057 // geometry
00058 #include <angles/angles.h>
00059 #include <tf/tf.h>
00060 
00061 // PID control library
00062 #include <control_toolbox/pid.h>
00063 
00064 
00065 namespace eband_local_planner{
00066 
00067 
00072 class EBandTrajectoryCtrl{
00073 
00074         public:
00075 
00079                 EBandTrajectoryCtrl();
00080 
00086                 EBandTrajectoryCtrl(std::string name, costmap_2d::Costmap2DROS* costmap_ros);
00087 
00091                 ~EBandTrajectoryCtrl();
00092 
00098                 void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros);
00099 
00104                 void setVisualization(boost::shared_ptr<EBandVisualization> target_visual);
00105 
00110                 bool setBand(const std::vector<Bubble>& elastic_band);
00111 
00116                 bool setOdometry(const nav_msgs::Odometry& odometry);
00117 
00122                 bool getTwist(geometry_msgs::Twist& twist_cmd);
00123 
00124 
00125         private:
00126 
00127                 // pointer to external objects (do NOT delete object)
00128                 costmap_2d::Costmap2DROS* costmap_ros_; 
00129                 boost::shared_ptr<EBandVisualization> target_visual_; // pointer to visualization object
00130 
00131     control_toolbox::Pid pid_;
00132 
00133                 // parameters
00134                 double k_p_, k_nu_, ctrl_freq_;
00135                 double acc_max_, virt_mass_;
00136                 double max_vel_lin_, max_vel_th_, min_vel_lin_, min_vel_th_;
00137                 double min_in_place_vel_th_;
00138                 double in_place_trans_vel_;
00139                 double tolerance_trans_, tolerance_rot_, tolerance_timeout_;
00140                 double acc_max_trans_, acc_max_rot_;
00141                 double rotation_correction_threshold_; // We'll do rotation correction if we're at least this far from the goal
00142 
00143                 // flags
00144                 bool initialized_, band_set_, visualization_;
00145 
00146                 // data
00147                 std::vector<Bubble> elastic_band_;
00148                 geometry_msgs::Twist odom_vel_;
00149                 geometry_msgs::Twist last_vel_;
00150                 geometry_msgs::Pose ref_frame_band_;
00151 
00153                 inline double sign(double n)
00154                 {
00155                         return n < 0.0 ? -1.0 : 1.0;
00156                 }
00157 
00165                 geometry_msgs::Twist getFrame1ToFrame2InRefFrame(const geometry_msgs::Pose& frame1, const geometry_msgs::Pose& frame2, const geometry_msgs::Pose& ref_frame);
00166                 
00174                 geometry_msgs::Twist transformTwistFromFrame1ToFrame2(const geometry_msgs::Twist& curr_twist, const geometry_msgs::Pose& frame1,
00175                                                                                                                                 const geometry_msgs::Pose& frame2);
00176 
00182                 geometry_msgs::Twist limitTwist(const geometry_msgs::Twist& twist);
00183 
00190                 double getBubbleTargetVel(const int& target_bub_num, const std::vector<Bubble>& band, geometry_msgs::Twist& VelDir);
00191 
00192 };
00193 };
00194 #endif
00195 
00196 
00197 
00198 
00199 
00200 


eband_local_planner
Author(s): Christian Connette, Bhaskara Marthi
autogenerated on Fri Jan 3 2014 11:34:16