#include <crossing_goer.h>

Public Member Functions
void	callback_goto_crossing (const lama_msgs::Crossing &crossing)
	CrossingGoer ()
bool	goto_crossing (const lama_msgs::Crossing &crossing, geometry_msgs::Twist &twist)
void	resetIntegrals ()
Private Member Functions
bool	callback_resetIntegrals (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	goToGoal (const geometry_msgs::Point &goal, geometry_msgs::Twist &twist)
Private Attributes
double	dtheta_force_left_
ros::Publisher	goal_reached_publisher_
double	ki_v_
	Integral gain for the linear velocity (s^-2).
double	ki_w_
	Integral gain for the angular velocity (s^-2).
double	kp_v_
	Proportional gain for the linear velocity (s^-1).
double	kp_w_
	Proportional gain for the angular velocity (s^-1).
ros::Time	last_t_
double	max_angular_velocity_
double	max_linear_velocity_
double	max_sum_v_
	Anti wind-up for sum_v_ (m.s).
double	max_sum_w_
	Anti wind-up for sum_w_ (rad.s).
double	min_angular_velocity_
	Minimum angular set velocity (rad.s^-1), used if the integral gain is 0.
double	min_linear_velocity_
	Minimum linear set velocity (m.s^-1), used if the integral gain is 0.
ros::NodeHandle	nh_
double	reach_distance_
	Goal is reached if closer than this (m).
ros::ServiceServer	reset_integral_server_
double	sum_v_
	Integral of linear error (m.s).
double	sum_w_
	Integral of angular error (rad.s).
double	threshold_w_only_
	If dtheta is greater than this, only turn, do not go forward (rad).
ros::Publisher	twist_publisher_

Detailed Description

Definition at line 19 of file crossing_goer.h.

Constructor & Destructor Documentation

goto_crossing::CrossingGoer::CrossingGoer ( )

Definition at line 6 of file crossing_goer.cpp.

Member Function Documentation

void goto_crossing::CrossingGoer::callback_goto_crossing ( const lama_msgs::Crossing & crossing )

Definition at line 110 of file crossing_goer.cpp.

bool goto_crossing::CrossingGoer::callback_resetIntegrals	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[private]`

Definition at line 122 of file crossing_goer.cpp.

bool goto_crossing::CrossingGoer::goto_crossing	(	const lama_msgs::Crossing &	crossing,
		geometry_msgs::Twist &	twist
	)

Definition at line 52 of file crossing_goer.cpp.

bool goto_crossing::CrossingGoer::goToGoal	(	const geometry_msgs::Point &	goal,
		geometry_msgs::Twist &	twist
	)		`[private]`

Definition at line 135 of file crossing_goer.cpp.

void goto_crossing::CrossingGoer::resetIntegrals ( ) [inline]

Definition at line 28 of file crossing_goer.h.

Member Data Documentation

double goto_crossing::CrossingGoer::dtheta_force_left_ [private]

If the goal is behind the robot, force the robot to turn left if the goal angle is within [pi - dtheta_force_left_, pi], even if the angle difference would tell that we should turn right. This is to avoid instability in the case that the angle would oscillate around pi. (rad)

Definition at line 47 of file crossing_goer.h.

ros::Publisher goto_crossing::CrossingGoer::goal_reached_publisher_ [private]

Definition at line 58 of file crossing_goer.h.

double goto_crossing::CrossingGoer::ki_v_ [private]

Integral gain for the linear velocity (s^-2).

Definition at line 38 of file crossing_goer.h.

double goto_crossing::CrossingGoer::ki_w_ [private]

Integral gain for the angular velocity (s^-2).

Definition at line 39 of file crossing_goer.h.

double goto_crossing::CrossingGoer::kp_v_ [private]

Proportional gain for the linear velocity (s^-1).

Definition at line 36 of file crossing_goer.h.