ROS Wrapper for the AckermannPlanner that adheres to the BaseLocalPlanner interface and can be used as a plugin for move_base. More...

Inheritance diagram for dt_local_planner::DTPlannerROS:

Public Member Functions
virtual bool	computeVelocityCommands (geometry_msgs::Twist &cmd_vel)
	Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.
	DTPlannerROS ()
	Constructor for DTPlannerROS.
virtual void	initialize (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS costmap_ros)
	Constructs the planner.
virtual bool	isGoalReached ()
	Check if the goal pose has been achieved.
virtual bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)
	Set the plan that the controller is following.
virtual	~DTPlannerROS ()
	Destructor for the planner.
Private Member Functions
bool	isInitialized ()
void	reconfigureCB (DTPlannerConfig &config, uint32_t level)
	Callback to update the local planner's parameters based on dynamic reconfigure.
Private Attributes
std::vector< double >	aCoeff_x_
std::vector< double >	aCoeff_y_
costmap_2d::Costmap2DROS *	costmap_ros_
dynamic_reconfigure::Server < DTPlannerConfig > *	dsrv_
bool	firstComputeVelocityCommands_
ros::Publisher	g_plan_pub_
double	gamma_dest0_
bool	goal_reached_
double	goal_x_
double	goal_y_
bool	initialized_
double	K_d_
double	K_p_
ros::Publisher	l_plan_pub_
double	lastCall_time_
double	max_ang_
double	max_vel_
double	max_vel_deltaT0_
bool	move_
int	nPolyGrad_
base_local_planner::OdometryHelperRos	odom_helper_
std::vector < geometry_msgs::PoseStamped >	plan_
int	planSize_
double	start_time_
int	stepCnt_max_vel_
tf::TransformListener *	tf_
	Used for transforming point clouds.
double	vel_dest0_

Detailed Description

ROS Wrapper for the AckermannPlanner that adheres to the BaseLocalPlanner interface and can be used as a plugin for move_base.

Definition at line 67 of file dt_planner_ros.h.

Constructor & Destructor Documentation

dt_local_planner::DTPlannerROS::DTPlannerROS ( )

Constructor for DTPlannerROS.

Definition at line 64 of file dt_planner_ros.cpp.

dt_local_planner::DTPlannerROS::~DTPlannerROS ( ) [virtual]

Destructor for the planner.

Definition at line 168 of file dt_planner_ros.cpp.

bool dt_local_planner::DTPlannerROS::computeVelocityCommands ( geometry_msgs::Twist & cmd_vel ) [virtual]

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.

Parameters:

cmd_vel Will be filled with the velocity command to be passed to the robot base

Definition at line 173 of file dt_planner_ros.cpp.

void dt_local_planner::DTPlannerROS::initialize	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)		`[virtual]`

Constructs the planner.

Parameters:

name	The name to give this instance of the trajectory planner
tf	A pointer to a transform listener
costmap	The cost map to use for assigning costs to trajectories

Definition at line 68 of file dt_planner_ros.cpp.

bool dt_local_planner::DTPlannerROS::isGoalReached ( ) [virtual]

Check if the goal pose has been achieved.