Public Member Functions | Private Member Functions | Private Attributes
pr2_navigation_controllers::PoseFollower Class Reference

#include <pose_follower.h>

Inheritance diagram for pr2_navigation_controllers::PoseFollower:
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List of all members.

Public Member Functions

bool computeVelocityCommands (geometry_msgs::Twist &cmd_vel)
void initialize (std::string name, tf::TransformListener *tf, costmap_2d::Costmap2DROS *costmap_ros)
bool isGoalReached ()
 PoseFollower ()
bool setPlan (const std::vector< geometry_msgs::PoseStamped > &global_plan)

Private Member Functions

geometry_msgs::Twist diff2D (const tf::Pose &pose1, const tf::Pose &pose2)
double headingDiff (double pt_x, double pt_y, double x, double y, double heading)
geometry_msgs::Twist limitTwist (const geometry_msgs::Twist &twist)
void odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
double sign (double n)
bool stopped ()
bool transformGlobalPlan (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const costmap_2d::Costmap2DROS &costmap, const std::string &global_frame, std::vector< geometry_msgs::PoseStamped > &transformed_plan)

Private Attributes

nav_msgs::Odometry base_odom_
base_local_planner::TrajectoryPlannerROS collision_planner_
costmap_2d::Costmap2DROScostmap_ros_
unsigned int current_waypoint_
std::vector
< geometry_msgs::PoseStamped > 
global_plan_
ros::Time goal_reached_time_
bool holonomic_
double in_place_trans_vel_
double K_rot_
double K_trans_
double max_vel_lin_
double max_vel_th_
double min_in_place_vel_th_
double min_vel_lin_
double min_vel_th_
boost::mutex odom_lock_
ros::Subscriber odom_sub_
double rot_stopped_velocity_
int samples_
tf::TransformListenertf_
double tolerance_rot_
double tolerance_timeout_
double tolerance_trans_
double trans_stopped_velocity_
ros::Publisher vel_pub_

Detailed Description

Definition at line 51 of file pose_follower.h.


Constructor & Destructor Documentation

Definition at line 43 of file pose_follower.cpp.


Member Function Documentation

bool pr2_navigation_controllers::PoseFollower::computeVelocityCommands ( geometry_msgs::Twist &  cmd_vel) [virtual]

Implements nav_core::BaseLocalPlanner.

Definition at line 122 of file pose_follower.cpp.

geometry_msgs::Twist pr2_navigation_controllers::PoseFollower::diff2D ( const tf::Pose pose1,
const tf::Pose pose2 
) [private]

Definition at line 227 of file pose_follower.cpp.

double pr2_navigation_controllers::PoseFollower::headingDiff ( double  pt_x,
double  pt_y,
double  x,
double  y,
double  heading 
) [private]

Definition at line 93 of file pose_follower.cpp.

void pr2_navigation_controllers::PoseFollower::initialize ( std::string  name,
tf::TransformListener tf,
costmap_2d::Costmap2DROS costmap_ros 
) [virtual]

Implements nav_core::BaseLocalPlanner.

Definition at line 45 of file pose_follower.cpp.

Implements nav_core::BaseLocalPlanner.

Definition at line 220 of file pose_follower.cpp.

geometry_msgs::Twist pr2_navigation_controllers::PoseFollower::limitTwist ( const geometry_msgs::Twist &  twist) [private]

Definition at line 269 of file pose_follower.cpp.

void pr2_navigation_controllers::PoseFollower::odomCallback ( const nav_msgs::Odometry::ConstPtr &  msg) [private]

Definition at line 83 of file pose_follower.cpp.

bool pr2_navigation_controllers::PoseFollower::setPlan ( const std::vector< geometry_msgs::PoseStamped > &  global_plan) [virtual]

Implements nav_core::BaseLocalPlanner.

Definition at line 210 of file pose_follower.cpp.

double pr2_navigation_controllers::PoseFollower::sign ( double  n) [inline, private]

Definition at line 60 of file pose_follower.h.

Definition at line 109 of file pose_follower.cpp.

bool pr2_navigation_controllers::PoseFollower::transformGlobalPlan ( const tf::TransformListener tf,
const std::vector< geometry_msgs::PoseStamped > &  global_plan,
const costmap_2d::Costmap2DROS costmap,
const std::string &  global_frame,
std::vector< geometry_msgs::PoseStamped > &  transformed_plan 
) [private]

Definition at line 309 of file pose_follower.cpp.


Member Data Documentation

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


pr2_navigation_controllers
Author(s): Ported by Adam Leeper, originally by Eitan Marder-Eppstein
autogenerated on Fri Jan 3 2014 12:06:43