Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes
RobotDriver Class Reference

#include <RobotDriver.h>

List of all members.

Public Member Functions

bool checkCollision (double relativePose[])
 checks wheter an envisioned movement of the base would collide the robot considering base_scan, currently supports only movements in x and y without rotation
bool checkCollision (tf::Stamped< tf::Pose > target)
bool driveInMap (tf::Stamped< tf::Pose > targetPose, bool exitWhenStuck=false)
bool driveInMap (const double targetPose[], bool exitWhenStuck=false)
 Drive forward a specified distance based on odometry information.
bool driveInOdom (const double targetPose[], bool exitWhenStuck=false)
void driveToMatch (std::vector< tf::Stamped< tf::Pose > > targetPose, std::vector< std::string > frame_ids)
void getRobotPose (tf::Stamped< tf::Pose > &marker)
void moveBase (const double pose[], bool useNavigation=false)
void moveBaseP (double x, double y, double oz, double ow, bool useNavigation=false)
void scanCallback (const sensor_msgs::LaserScan::ConstPtr &scan_in)

Static Public Member Functions

static RobotDrivergetInstance ()
static void moveBase4 (double x, double y, double oz, double ow, bool useNavigation=false)

Private Member Functions

void QuaternionToEuler (const btQuaternion &TQuat, btVector3 &TEuler)
 RobotDriver ()
 ROS node initialization.

Private Attributes

ros::Publisher cmd_vel_pub_
 We will be publishing to the "cmd_vel" topic to issue commands.
tf::TransformListener listener_
 We will be listening to TF transforms as well.
ros::NodeHandle nh_
 The node handle we'll be using.
size_t numScanPoints
laser_geometry::LaserProjectionprojector_
boost::mutex scan_mutex
double scanPoints [5000][2]
ros::Subscriber subScan_
 We need laser scans avoiding obstacles.
bool weHaveScan

Static Private Attributes

static RobotDriverinstance = 0

Detailed Description

Definition at line 48 of file RobotDriver.h.


Constructor & Destructor Documentation

RobotDriver::RobotDriver ( ) [private]

ROS node initialization.

Definition at line 38 of file RobotDriver.cpp.


Member Function Documentation

bool RobotDriver::checkCollision ( double  relativePose[])

checks wheter an envisioned movement of the base would collide the robot considering base_scan, currently supports only movements in x and y without rotation

Definition at line 74 of file RobotDriver.cpp.

Definition at line 100 of file RobotDriver.cpp.

bool RobotDriver::driveInMap ( tf::Stamped< tf::Pose targetPose,
bool  exitWhenStuck = false 
)

limit speed depening on already travelled distance (start slowly) and distance to goal (final approach slow)

Definition at line 148 of file RobotDriver.cpp.

bool RobotDriver::driveInMap ( const double  targetPose[],
bool  exitWhenStuck = false 
)

Drive forward a specified distance based on odometry information.

Definition at line 362 of file RobotDriver.cpp.

bool RobotDriver::driveInOdom ( const double  targetPose[],
bool  exitWhenStuck = false 
)

Definition at line 373 of file RobotDriver.cpp.

void RobotDriver::driveToMatch ( std::vector< tf::Stamped< tf::Pose > >  targetPose,
std::vector< std::string >  frame_ids 
)

Definition at line 481 of file RobotDriver.cpp.

Definition at line 47 of file RobotDriver.cpp.

Definition at line 109 of file RobotDriver.cpp.

void RobotDriver::moveBase ( const double  pose[],
bool  useNavigation = false 
)

//arm->startTrajectory(arm->twoPointTrajectory(Poses::untuckPoseA, Poses::tuckPose));

Definition at line 415 of file RobotDriver.cpp.

void RobotDriver::moveBase4 ( double  x,
double  y,
double  oz,
double  ow,
bool  useNavigation = false 
) [static]

Definition at line 404 of file RobotDriver.cpp.

void RobotDriver::moveBaseP ( double  x,
double  y,
double  oz,
double  ow,
bool  useNavigation = false 
)

Definition at line 471 of file RobotDriver.cpp.

void RobotDriver::QuaternionToEuler ( const btQuaternion TQuat,
btVector3 &  TEuler 
) [private]

Definition at line 132 of file RobotDriver.cpp.

void RobotDriver::scanCallback ( const sensor_msgs::LaserScan::ConstPtr &  scan_in)

Definition at line 54 of file RobotDriver.cpp.


Member Data Documentation

We will be publishing to the "cmd_vel" topic to issue commands.

Definition at line 54 of file RobotDriver.h.

RobotDriver * RobotDriver::instance = 0 [static, private]

Definition at line 68 of file RobotDriver.h.

We will be listening to TF transforms as well.

Definition at line 56 of file RobotDriver.h.

The node handle we'll be using.

Definition at line 52 of file RobotDriver.h.

size_t RobotDriver::numScanPoints [private]

Definition at line 63 of file RobotDriver.h.

Definition at line 59 of file RobotDriver.h.

Definition at line 60 of file RobotDriver.h.

double RobotDriver::scanPoints[5000][2] [private]

Definition at line 62 of file RobotDriver.h.

We need laser scans avoiding obstacles.

Definition at line 58 of file RobotDriver.h.

Definition at line 61 of file RobotDriver.h.


The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Properties Friends Defines


ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:57