#include <string.h>
#include <vector>
#include <queue>
#include <stdint.h>
#include <ros/ros.h>
#include <math.h>
#include <cstdlib>
#include <purepursuit_planner/Component.h>
#include <ackermann_msgs/AckermannDriveStamped.h>
#include <nav_msgs/Odometry.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include "diagnostic_msgs/DiagnosticStatus.h"
#include "diagnostic_updater/diagnostic_updater.h"
#include "diagnostic_updater/update_functions.h"
#include "diagnostic_updater/DiagnosticStatusWrapper.h"
#include "diagnostic_updater/publisher.h"
#include <actionlib/server/simple_action_server.h>
#include <planner_msgs/GoToAction.h>
#include <planner_msgs/goal.h>
#include <geometry_msgs/Pose2D.h>

Include dependency graph for purepursuit_planner.cpp:

Classes
struct	MagnetStruct
	Data structure for a Magnet. More...
class	Path
	class to manage the waypoints and magnets of the current path More...
class	purepursuit_planner_node
struct	Waypoint
	Data structure for a Waypoint. More...
Defines
#define	AGVS_DEFAULT_KR 0.20
#define	AGVS_FIRST_DECELERATION_DISTANCE 0.5
#define	AGVS_FIRST_DECELERATION_MAXSPEED 0.15
#define	AGVS_SECOND_DECELERATION_DISTANCE 0.25
#define	AGVS_SECOND_DECELERATION_MAXSPEED 0.1
#define	AGVS_TURN_RADIUS 0.20
#define	BEZIER_CONTROL_POINTS 5
#define	D_LOOKAHEAD_MAX 1.1
#define	D_LOOKAHEAD_MIN 0.3
#define	D_WHEEL_ROBOT_CENTER 0.478
#define	MAP_TIMEOUT_ERROR 0.2
#define	MAX_SPEED 1.2
#define	MAX_SPEED_LVL1 0.5
#define	MAX_SPEED_LVL2 0.3
#define	MIN_ANGLE_BEZIER 0.261799388
#define	ODOM_TIMEOUT_ERROR 0.2
#define	WAYPOINT_POP_DISTANCE_M 0.10
Typedefs
typedef struct MagnetStruct	MagnetStruct
	Data structure for a Magnet.
typedef struct Waypoint	Waypoint
	Data structure for a Waypoint.
Enumerations
enum	{ ODOM_SOURCE = 1, MAP_SOURCE = 2 }
Functions
int	main (int argc, char **argv)