Public Member Functions | Private Member Functions | Private Attributes
pose_follower::HectorPathFollower Class Reference

#include <hector_path_follower.h>

List of all members.

Public Member Functions

bool computeVelocityCommands (geometry_msgs::Twist &cmd_vel)
 HectorPathFollower ()
void initialize (tf::TransformListener *tf)
bool isGoalReached ()
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)
bool getRobotPose (tf::Stamped< tf::Pose > &global_pose) const
double headingDiff (double pt_x, double pt_y, double x, double y, double heading)
geometry_msgs::Twist limitTwist (const geometry_msgs::Twist &twist)
double sign (double n)
bool stopped ()
bool transformGlobalPlan (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const std::string &global_frame, std::vector< geometry_msgs::PoseStamped > &transformed_plan)

Private Attributes

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_
std::string p_global_frame_
std::string p_robot_base_frame_
double rot_stopped_velocity_
int samples_
tf::TransformListenertf_
double tolerance_rot_
double tolerance_timeout_
double tolerance_trans_
double trans_stopped_velocity_

Detailed Description

Definition at line 42 of file hector_path_follower.h.


Constructor & Destructor Documentation

Definition at line 36 of file hector_path_follower.cpp.


Member Function Documentation

bool pose_follower::HectorPathFollower::computeVelocityCommands ( geometry_msgs::Twist &  cmd_vel)

Definition at line 118 of file hector_path_follower.cpp.

geometry_msgs::Twist pose_follower::HectorPathFollower::diff2D ( const tf::Pose pose1,
const tf::Pose pose2 
) [private]

Definition at line 230 of file hector_path_follower.cpp.

bool pose_follower::HectorPathFollower::getRobotPose ( tf::Stamped< tf::Pose > &  global_pose) const [private]

Definition at line 365 of file hector_path_follower.cpp.

double pose_follower::HectorPathFollower::headingDiff ( double  pt_x,
double  pt_y,
double  x,
double  y,
double  heading 
) [private]

Definition at line 87 of file hector_path_follower.cpp.

Definition at line 38 of file hector_path_follower.cpp.

Definition at line 220 of file hector_path_follower.cpp.

geometry_msgs::Twist pose_follower::HectorPathFollower::limitTwist ( const geometry_msgs::Twist &  twist) [private]

Definition at line 272 of file hector_path_follower.cpp.

bool pose_follower::HectorPathFollower::setPlan ( const std::vector< geometry_msgs::PoseStamped > &  global_plan)

Definition at line 210 of file hector_path_follower.cpp.

double pose_follower::HectorPathFollower::sign ( double  n) [inline, private]

Definition at line 52 of file hector_path_follower.h.

bool pose_follower::HectorPathFollower::transformGlobalPlan ( const tf::TransformListener tf,
const std::vector< geometry_msgs::PoseStamped > &  global_plan,
const std::string &  global_frame,
std::vector< geometry_msgs::PoseStamped > &  transformed_plan 
) [private]

Definition at line 312 of file hector_path_follower.cpp.


Member Data Documentation

Definition at line 84 of file hector_path_follower.h.

std::vector<geometry_msgs::PoseStamped> pose_follower::HectorPathFollower::global_plan_ [private]

Definition at line 85 of file hector_path_follower.h.

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


hector_path_follower
Author(s): Stefan Kohlbrecher
autogenerated on Mon Oct 6 2014 00:27:24