base_local_planner::OscillationCostFunction Class Reference

#include <oscillation_cost_function.h>

Inheritance diagram for base_local_planner::OscillationCostFunction:

List of all members.

Public Member Functions
	OscillationCostFunction ()
bool	prepare ()
void	resetOscillationFlags ()
	Reset the oscillation flags for the local planner.
double	scoreTrajectory (Trajectory &traj)
void	setOscillationResetDist (double dist, double angle)
void	updateOscillationFlags (Eigen::Vector3f pos, base_local_planner::Trajectory *traj, double min_vel_trans)
virtual	~OscillationCostFunction ()
Private Member Functions
void	resetOscillationFlagsIfPossible (const Eigen::Vector3f &pos, const Eigen::Vector3f &prev)
bool	setOscillationFlags (base_local_planner::Trajectory *t, double min_vel_trans)
	Given a trajectory that's selected, set flags if needed to prevent the robot from oscillating.
Private Attributes
bool	forward_neg_
bool	forward_neg_only_
bool	forward_pos_
bool	forward_pos_only_
double	oscillation_reset_angle_
double	oscillation_reset_dist_
Eigen::Vector3f	prev_stationary_pos_
bool	rot_neg_only_
bool	rot_pos_only_
bool	rotating_neg_
bool	rotating_pos_
bool	strafe_neg_only_
bool	strafe_pos_only_
bool	strafing_neg_
bool	strafing_pos_

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Detailed Description

Definition at line 46 of file oscillation_cost_function.h.

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Constructor & Destructor Documentation

base_local_planner::OscillationCostFunction::OscillationCostFunction

(

)

Definition at line 44 of file oscillation_cost_function.cpp.

base_local_planner::OscillationCostFunction::~OscillationCostFunction

(

)

[virtual]

Definition at line 47 of file oscillation_cost_function.cpp.

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Member Function Documentation

bool base_local_planner::OscillationCostFunction::prepare

(

)

[inline, virtual]

General updating of context values if required. Subclasses may overwrite. Return false in case there is any error.

Implements base_local_planner::TrajectoryCostFunction.

Definition at line 53 of file oscillation_cost_function.h.

void base_local_planner::OscillationCostFunction::resetOscillationFlags

(

)

Reset the oscillation flags for the local planner.

Definition at line 84 of file oscillation_cost_function.cpp.

void base_local_planner::OscillationCostFunction::resetOscillationFlagsIfPossible	(	const Eigen::Vector3f &	pos,
		const Eigen::Vector3f &	prev
	)		[private]

Definition at line 70 of file oscillation_cost_function.cpp.

double base_local_planner::OscillationCostFunction::scoreTrajectory

(

Trajectory &

traj

)

[virtual]

return a score for trajectory traj

Implements base_local_planner::TrajectoryCostFunction.

Definition at line 166 of file oscillation_cost_function.cpp.

bool base_local_planner::OscillationCostFunction::setOscillationFlags	(	base_local_planner::Trajectory *	t,
		double	min_vel_trans
	)		[private]

Given a trajectory that's selected, set flags if needed to prevent the robot from oscillating.

Parameters:

t	The selected trajectory

Returns:

True if a flag was set, false otherwise

Definition at line 101 of file oscillation_cost_function.cpp.

void base_local_planner::OscillationCostFunction::setOscillationResetDist	(	double	dist,
		double	angle
	)

Definition at line 51 of file oscillation_cost_function.cpp.

void base_local_planner::OscillationCostFunction::updateOscillationFlags	(	Eigen::Vector3f	pos,
		base_local_planner::Trajectory *	traj,
		double	min_vel_trans
	)

Definition at line 56 of file oscillation_cost_function.cpp.

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Member Data Documentation

bool base_local_planner::OscillationCostFunction::forward_neg_ [private]

Definition at line 80 of file oscillation_cost_function.h.

bool base_local_planner::OscillationCostFunction::forward_neg_only_ [private]

Definition at line 80 of file oscillation_cost_function.h.

bool base_local_planner::OscillationCostFunction::forward_pos_ [private]

Definition at line 80 of file oscillation_cost_function.h.

bool base_local_planner::OscillationCostFunction::forward_pos_only_ [private]

Definition at line 80 of file oscillation_cost_function.h.

double base_local_planner::OscillationCostFunction::oscillation_reset_angle_ [private]

Definition at line 83 of file oscillation_cost_function.h.

double base_local_planner::OscillationCostFunction::oscillation_reset_dist_ [private]

Definition at line 83 of file oscillation_cost_function.h.

Eigen::Vector3f base_local_planner::OscillationCostFunction::prev_stationary_pos_ [private]

Definition at line 85 of file oscillation_cost_function.h.

bool base_local_planner::OscillationCostFunction::rot_neg_only_ [private]

Definition at line 79 of file oscillation_cost_function.h.

bool base_local_planner::OscillationCostFunction::rot_pos_only_ [private]

Definition at line 79 of file oscillation_cost_function.h.

bool base_local_planner::OscillationCostFunction::rotating_neg_ [private]

Definition at line 79 of file oscillation_cost_function.h.

bool base_local_planner::OscillationCostFunction::rotating_pos_ [private]

Definition at line 79 of file oscillation_cost_function.h.

bool base_local_planner::OscillationCostFunction::strafe_neg_only_ [private]

Definition at line 78 of file oscillation_cost_function.h.

bool base_local_planner::OscillationCostFunction::strafe_pos_only_ [private]

Definition at line 78 of file oscillation_cost_function.h.

bool base_local_planner::OscillationCostFunction::strafing_neg_ [private]

Definition at line 78 of file oscillation_cost_function.h.

bool base_local_planner::OscillationCostFunction::strafing_pos_ [private]

Definition at line 78 of file oscillation_cost_function.h.

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

• oscillation_cost_function.h
• oscillation_cost_function.cpp