cob_base_velocity_smoother::VelocitySmoother Class Reference

#include <velocity_smoother.h>

List of all members.

Public Member Functions
bool	init (ros::NodeHandle &nh)
void	shutdown ()
void	spin ()
	VelocitySmoother (const std::string &name)
	~VelocitySmoother ()
Private Types
enum	RobotFeedbackType { NONE, ODOMETRY, COMMANDS }
Private Member Functions
double	median (std::vector< double > values)
void	odometryCB (const nav_msgs::Odometry::ConstPtr &msg)
void	reconfigCB (cob_base_velocity_smoother::paramsConfig &config, uint32_t unused_level)
void	robotVelCB (const geometry_msgs::Twist::ConstPtr &msg)
double	sign (double x)
void	velocityCB (const geometry_msgs::Twist::ConstPtr &msg)
Private Attributes
double	accel_lim_vx
double	accel_lim_vy
double	accel_lim_w
double	cb_avg_time
geometry_msgs::Twist	current_vel
ros::Subscriber	current_vel_sub
double	decel_factor
double	decel_factor_safe
double	decel_lim_vx
double	decel_lim_vx_safe
double	decel_lim_vy
double	decel_lim_vy_safe
double	decel_lim_w
double	decel_lim_w_safe
dynamic_reconfigure::Server < cob_base_velocity_smoother::paramsConfig > ::CallbackType	dynamic_reconfigure_callback
dynamic_reconfigure::Server < cob_base_velocity_smoother::paramsConfig > *	dynamic_reconfigure_server
double	frequency
bool	input_active
ros::Time	last_cb_time
geometry_msgs::Twist	last_cmd_vel
std::string	name
ros::Subscriber	odometry_sub
std::vector< double >	period_record
unsigned int	pr_next
ros::Subscriber	raw_in_vel_sub
enum cob_base_velocity_smoother::VelocitySmoother::RobotFeedbackType	robot_feedback
bool	shutdown_req
ros::Publisher	smooth_vel_pub
double	speed_lim_vx
double	speed_lim_vy
double	speed_lim_w
geometry_msgs::Twist	target_vel

---

Detailed Description

Definition at line 40 of file velocity_smoother.h.

---

Member Enumeration Documentation

enum cob_base_velocity_smoother::VelocitySmoother::RobotFeedbackType [private]

Enumerator:

NONE
ODOMETRY
COMMANDS

Definition at line 56 of file velocity_smoother.h.

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Constructor & Destructor Documentation

cob_base_velocity_smoother::VelocitySmoother::VelocitySmoother

(

const std::string &

name

)

Definition at line 46 of file velocity_smoother.cpp.

cob_base_velocity_smoother::VelocitySmoother::~VelocitySmoother

(

)

[inline]

Definition at line 45 of file velocity_smoother.h.

---

Member Function Documentation

bool cob_base_velocity_smoother::VelocitySmoother::init

(

ros::NodeHandle &

nh

)

Initialise from a nodelet's private nodehandle.

Parameters:

nh	: private nodehandle

Returns:

bool : success or failure

Definition at line 300 of file velocity_smoother.cpp.

double cob_base_velocity_smoother::VelocitySmoother::median

(

std::vector< double >

values

)

[inline, private]

Definition at line 93 of file velocity_smoother.h.

void cob_base_velocity_smoother::VelocitySmoother::odometryCB

(

const nav_msgs::Odometry::ConstPtr &

msg

)

[private]

Definition at line 115 of file velocity_smoother.cpp.

void cob_base_velocity_smoother::VelocitySmoother::reconfigCB	(	cob_base_velocity_smoother::paramsConfig &	config,
		uint32_t	unused_level
	)		[private]

Definition at line 55 of file velocity_smoother.cpp.

void cob_base_velocity_smoother::VelocitySmoother::robotVelCB

(

const geometry_msgs::Twist::ConstPtr &

msg

)

[private]

Definition at line 123 of file velocity_smoother.cpp.

void cob_base_velocity_smoother::VelocitySmoother::shutdown

(

)

[inline]

Definition at line 53 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::sign

(

double

x

)

[inline, private]

Definition at line 91 of file velocity_smoother.h.

void cob_base_velocity_smoother::VelocitySmoother::spin

(

)

Definition at line 131 of file velocity_smoother.cpp.

void cob_base_velocity_smoother::VelocitySmoother::velocityCB

(

const geometry_msgs::Twist::ConstPtr &

msg

)

[private]

Definition at line 76 of file velocity_smoother.cpp.

---

Member Data Documentation

double cob_base_velocity_smoother::VelocitySmoother::accel_lim_vx [private]

Definition at line 64 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::accel_lim_vy [private]

Definition at line 65 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::accel_lim_w [private]

Definition at line 66 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::cb_avg_time [private]

Definition at line 77 of file velocity_smoother.h.

geometry_msgs::Twist cob_base_velocity_smoother::VelocitySmoother::current_vel [private]

Definition at line 72 of file velocity_smoother.h.

ros::Subscriber cob_base_velocity_smoother::VelocitySmoother::current_vel_sub [private]

Current velocity from commands sent to the robot, not necessarily by this node

Definition at line 83 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::decel_factor [private]

Definition at line 67 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::decel_factor_safe [private]

Definition at line 67 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::decel_lim_vx [private]

Definition at line 64 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::decel_lim_vx_safe [private]

Definition at line 64 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::decel_lim_vy [private]

Definition at line 65 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::decel_lim_vy_safe [private]

Definition at line 65 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::decel_lim_w [private]

Definition at line 66 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::decel_lim_w_safe [private]

Definition at line 66 of file velocity_smoother.h.

dynamic_reconfigure::Server<cob_base_velocity_smoother::paramsConfig>::CallbackType cob_base_velocity_smoother::VelocitySmoother::dynamic_reconfigure_callback [private]

Definition at line 103 of file velocity_smoother.h.

dynamic_reconfigure::Server<cob_base_velocity_smoother::paramsConfig>* cob_base_velocity_smoother::VelocitySmoother::dynamic_reconfigure_server [private]

Definition at line 97 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::frequency [private]

Definition at line 69 of file velocity_smoother.h.

bool cob_base_velocity_smoother::VelocitySmoother::input_active [private]

Definition at line 76 of file velocity_smoother.h.

ros::Time cob_base_velocity_smoother::VelocitySmoother::last_cb_time [private]

Definition at line 78 of file velocity_smoother.h.

geometry_msgs::Twist cob_base_velocity_smoother::VelocitySmoother::last_cmd_vel [private]

Definition at line 71 of file velocity_smoother.h.

std::string cob_base_velocity_smoother::VelocitySmoother::name [private]

Definition at line 63 of file velocity_smoother.h.

ros::Subscriber cob_base_velocity_smoother::VelocitySmoother::odometry_sub [private]

Current velocity from odometry

Definition at line 82 of file velocity_smoother.h.

std::vector<double> cob_base_velocity_smoother::VelocitySmoother::period_record [private]

Historic of latest periods between velocity commands

Definition at line 79 of file velocity_smoother.h.

unsigned int cob_base_velocity_smoother::VelocitySmoother::pr_next [private]

Next position to fill in the periods record buffer

Definition at line 80 of file velocity_smoother.h.

ros::Subscriber cob_base_velocity_smoother::VelocitySmoother::raw_in_vel_sub [private]

Incoming raw velocity commands

Definition at line 84 of file velocity_smoother.h.

enum cob_base_velocity_smoother::VelocitySmoother::RobotFeedbackType cob_base_velocity_smoother::VelocitySmoother::robot_feedback [private]

What source to use as robot velocity feedback

bool cob_base_velocity_smoother::VelocitySmoother::shutdown_req [private]

Shutdown requested by nodelet; kill worker thread

Definition at line 75 of file velocity_smoother.h.

ros::Publisher cob_base_velocity_smoother::VelocitySmoother::smooth_vel_pub [private]

Outgoing smoothed velocity commands

Definition at line 85 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::speed_lim_vx [private]

Definition at line 64 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::speed_lim_vy [private]

Definition at line 65 of file velocity_smoother.h.

double cob_base_velocity_smoother::VelocitySmoother::speed_lim_w [private]

Definition at line 66 of file velocity_smoother.h.

geometry_msgs::Twist cob_base_velocity_smoother::VelocitySmoother::target_vel [private]

Definition at line 73 of file velocity_smoother.h.

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

• velocity_smoother.h
• velocity_smoother.cpp