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 RobotDriver *	getInstance ()
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::LaserProjection *	projector_
boost::mutex	scan_mutex
double	scanPoints [5000][2]
ros::Subscriber	subScan_
	We need laser scans avoiding obstacles.
bool	weHaveScan
Static Private Attributes
static RobotDriver *	instance = 0

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Detailed Description

Definition at line 48 of file RobotDriver.h.

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Constructor & Destructor Documentation

RobotDriver::RobotDriver

(

)

[private]

ROS node initialization.

Definition at line 38 of file RobotDriver.cpp.

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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.

bool RobotDriver::checkCollision

(

tf::Stamped< tf::Pose >

target

)

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.

RobotDriver * RobotDriver::getInstance

(

)

[static]

Definition at line 47 of file RobotDriver.cpp.

void RobotDriver::getRobotPose

(

tf::Stamped< tf::Pose > &

marker

)

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.

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Member Data Documentation

ros::Publisher RobotDriver::cmd_vel_pub_ [private]

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.

tf::TransformListener RobotDriver::listener_ [private]

We will be listening to TF transforms as well.

Definition at line 56 of file RobotDriver.h.

ros::NodeHandle RobotDriver::nh_ [private]

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.

laser_geometry::LaserProjection* RobotDriver::projector_ [private]

Definition at line 59 of file RobotDriver.h.

boost::mutex RobotDriver::scan_mutex [private]

Definition at line 60 of file RobotDriver.h.

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

Definition at line 62 of file RobotDriver.h.

ros::Subscriber RobotDriver::subScan_ [private]

We need laser scans avoiding obstacles.

Definition at line 58 of file RobotDriver.h.

bool RobotDriver::weHaveScan [private]

Definition at line 61 of file RobotDriver.h.

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

• RobotDriver.h
• RobotDriver.cpp