#include <twist_recovery.h>

Inheritance diagram for twist_recovery::TwistRecovery:

Public Member Functions
void	initialize (std::string n, tf::TransformListener tf, costmap_2d::Costmap2DROS global_costmap, costmap_2d::Costmap2DROS *local_costmap)
	Initialize the parameters of the behavior.
void	runBehavior ()
	Run the behavior.
	TwistRecovery ()
	Doesn't do anything: initialize is where the actual work happens.
	~TwistRecovery ()
Private Member Functions
geometry_msgs::Pose2D	getCurrentLocalPose () const
double	nonincreasingCostInterval (const geometry_msgs::Pose2D &current, const geometry_msgs::Twist &twist) const
double	normalizedPoseCost (const geometry_msgs::Pose2D &pose) const
	Return the cost of a pose, modified so that -1 does not equal infinity; instead 1e9 does.
geometry_msgs::Twist	scaleGivenAccelerationLimits (const geometry_msgs::Twist &twist, const double time_remaining) const
geometry_msgs::Twist	transformTwist (const geometry_msgs::Pose2D &pose) const
Private Attributes
double	angular_acceleration_limit_
double	angular_speed_limit_
geometry_msgs::Twist	base_frame_twist_
double	controller_frequency_
costmap_2d::Costmap2D	costmap_
double	duration_
costmap_2d::Costmap2DROS *	global_costmap_
bool	initialized_
double	linear_acceleration_limit_
double	linear_speed_limit_
costmap_2d::Costmap2DROS *	local_costmap_
std::string	name_
ros::NodeHandle	nh_
ros::Publisher	pub_
double	simulation_inc_
tf::TransformListener *	tf_
base_local_planner::CostmapModel *	world_model_

Detailed Description

Recovery behavior that takes a given twist and tries to execute it for up to d seconds, or until reaching an obstacle.

Definition at line 52 of file twist_recovery.h.

Constructor & Destructor Documentation

twist_recovery::TwistRecovery::TwistRecovery ( )

Doesn't do anything: initialize is where the actual work happens.

Definition at line 55 of file twist_recovery.cpp.

twist_recovery::TwistRecovery::~TwistRecovery ( )

Definition at line 59 of file twist_recovery.cpp.

Member Function Documentation

gm::Pose2D twist_recovery::TwistRecovery::getCurrentLocalPose ( ) const [private]

Definition at line 181 of file twist_recovery.cpp.

void twist_recovery::TwistRecovery::initialize	(	std::string	n,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	global_costmap,
		costmap_2d::Costmap2DROS *	local_costmap
	)		`[virtual]`

Initialize the parameters of the behavior.

Implements nav_core::RecoveryBehavior.

Definition at line 64 of file twist_recovery.cpp.

double twist_recovery::TwistRecovery::nonincreasingCostInterval	(	const geometry_msgs::Pose2D &	current,
		const geometry_msgs::Twist &	twist
	)		const `[private]`

Return the maximum d <= duration_ such that starting at the current pose, the cost is nonincreasing for d seconds if we follow twist It might also be good to have a threshold such that we're allowed to have lethal cost for at most the first k of those d seconds, but this is not done

Definition at line 139 of file twist_recovery.cpp.

double twist_recovery::TwistRecovery::normalizedPoseCost ( const geometry_msgs::Pose2D & pose ) const [private]

Return the cost of a pose, modified so that -1 does not equal infinity; instead 1e9 does.

Definition at line 122 of file twist_recovery.cpp.

void twist_recovery::TwistRecovery::runBehavior ( ) [virtual]

Run the behavior.

Implements nav_core::RecoveryBehavior.

Definition at line 192 of file twist_recovery.cpp.

gm::Twist twist_recovery::TwistRecovery::scaleGivenAccelerationLimits	(	const geometry_msgs::Twist &	twist,
		const double	time_remaining
	)		const `[private]`