planner2dofSerialJointsNode Class Reference

List of all members.

Classes
class	LinkBody
Public Member Functions
	planner2dofSerialJointsNode (const std::string group_name)
Private Types
enum	PointVelMode { VEL_PREV, VEL_NEXT, VEL_AVG }
Private Member Functions
float	cbCost (const Astar::Vec &s, Astar::Vec &e, const Astar::Vec &v_goal, const Astar::Vec &v_start)
float	cbCostEstim (const Astar::Vec &s, const Astar::Vec &e)
void	cbJoint (const sensor_msgs::JointState::ConstPtr &msg)
bool	cbProgress (const std::list< Astar::Vec > &path_grid)
std::vector< Astar::Vec > &	cbSearch (const Astar::Vec &p, const Astar::Vec &s, const Astar::Vec &e)
void	cbTrajectory (const trajectory_msgs::JointTrajectory::ConstPtr &msg)
float	euclidCost (const Astar::Vec &v, const Astar::Vecf coef)
float	euclidCost (const Astar::Vec &v)
void	grid2Metric (const int t0, const int t1, float &gt0, float &gt1)
void	grid2Metric (const Astar::Vec t, Astar::Vecf &gt)
bool	makePlan (const Astar::Vecf sg, const Astar::Vecf eg, std::list< Astar::Vecf > &path)
void	metric2Grid (int &t0, int &t1, const float gt0, const float gt1)
void	metric2Grid (Astar::Vec &t, const Astar::Vecf gt)
void	replan ()
Private Attributes
Astar	as_
float	avg_vel_
Astar::Gridmap< char, 0x40 >	cm_
std::pair< ros::Duration, std::pair< float, float > >	cmd_prev
bool	debug_aa_
Astar::Vecf	euclid_cost_coef_
float	expand_
float	freq_
float	freq_min_
std::string	group_
bool	has_goal_
bool	has_start_
int	id [2]
sensor_msgs::JointState	joint_
LinkBody	links_ [2]
ros::NodeHandle	nh_
ros::NodeHandle	pnh_
PointVelMode	point_vel_
ros::Publisher	pub_status_
ros::Publisher	pub_trajectory_
ros::Duration	replan_interval_
ros::Time	replan_prev_
int	resolution_
std::vector< Astar::Vec >	search_list_
planner_cspace_msgs::PlannerStatus	status_
ros::Subscriber	sub_joint_
ros::Subscriber	sub_trajectory_
tf2_ros::Buffer	tfbuf_
tf2_ros::TransformListener	tfl_
trajectory_msgs::JointTrajectory	traj_prev
float	weight_cost_

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Detailed Description

Definition at line 48 of file planner_2dof_serial_joints.cpp.

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Member Enumeration Documentation

enum planner2dofSerialJointsNode::PointVelMode [private]

Enumerator:

VEL_PREV
VEL_NEXT
VEL_AVG

Definition at line 94 of file planner_2dof_serial_joints.cpp.

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Constructor & Destructor Documentation

planner2dofSerialJointsNode::planner2dofSerialJointsNode

(

const std::string

group_name

)

[inline, explicit]

Definition at line 375 of file planner_2dof_serial_joints.cpp.

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Member Function Documentation

float planner2dofSerialJointsNode::cbCost	(	const Astar::Vec &	s,
		Astar::Vec &	e,
		const Astar::Vec &	v_goal,
		const Astar::Vec &	v_start
	)		[inline, private]

Definition at line 685 of file planner_2dof_serial_joints.cpp.

float planner2dofSerialJointsNode::cbCostEstim	(	const Astar::Vec &	s,
		const Astar::Vec &	e
	)		[inline, private]

Definition at line 680 of file planner_2dof_serial_joints.cpp.

void planner2dofSerialJointsNode::cbJoint

(

const sensor_msgs::JointState::ConstPtr &

msg

)

[inline, private]

Definition at line 175 of file planner_2dof_serial_joints.cpp.

bool planner2dofSerialJointsNode::cbProgress

(

const std::list< Astar::Vec > &

path_grid

)

[inline, private]

Definition at line 676 of file planner_2dof_serial_joints.cpp.

std::vector<Astar::Vec>& planner2dofSerialJointsNode::cbSearch	(	const Astar::Vec &	p,
		const Astar::Vec &	s,
		const Astar::Vec &	e
	)		[inline, private]

Definition at line 670 of file planner_2dof_serial_joints.cpp.

void planner2dofSerialJointsNode::cbTrajectory

(

const trajectory_msgs::JointTrajectory::ConstPtr &

msg

)

[inline, private]

Definition at line 203 of file planner_2dof_serial_joints.cpp.

float planner2dofSerialJointsNode::euclidCost	(	const Astar::Vec &	v,
		const Astar::Vecf	coef
	)		[inline, private]

Definition at line 70 of file planner_2dof_serial_joints.cpp.

float planner2dofSerialJointsNode::euclidCost

(

const Astar::Vec &

v

)

[inline, private]

Definition at line 80 of file planner_2dof_serial_joints.cpp.

void planner2dofSerialJointsNode::grid2Metric	(	const int	t0,
		const int	t1,
		float &	gt0,
		float &	gt1
	)		[inline, private]

Definition at line 522 of file planner_2dof_serial_joints.cpp.

void planner2dofSerialJointsNode::grid2Metric	(	const Astar::Vec	t,
		Astar::Vecf &	gt
	)		[inline, private]

Definition at line 536 of file planner_2dof_serial_joints.cpp.

bool planner2dofSerialJointsNode::makePlan	(	const Astar::Vecf	sg,
		const Astar::Vecf	eg,
		std::list< Astar::Vecf > &	path
	)		[inline, private]

Definition at line 548 of file planner_2dof_serial_joints.cpp.

void planner2dofSerialJointsNode::metric2Grid	(	int &	t0,
		int &	t1,
		const float	gt0,
		const float	gt1
	)		[inline, private]

Definition at line 529 of file planner_2dof_serial_joints.cpp.

void planner2dofSerialJointsNode::metric2Grid	(	Astar::Vec &	t,
		const Astar::Vecf	gt
	)		[inline, private]

Definition at line 542 of file planner_2dof_serial_joints.cpp.

void planner2dofSerialJointsNode::replan

(

)

[inline, private]

Definition at line 235 of file planner_2dof_serial_joints.cpp.

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Member Data Documentation

Astar planner2dofSerialJointsNode::as_ [private]

Definition at line 65 of file planner_2dof_serial_joints.cpp.

float planner2dofSerialJointsNode::avg_vel_ [private]

Definition at line 93 of file planner_2dof_serial_joints.cpp.

Astar::Gridmap<char, 0x40> planner2dofSerialJointsNode::cm_ [private]

Definition at line 66 of file planner_2dof_serial_joints.cpp.

std::pair<ros::Duration, std::pair<float, float> > planner2dofSerialJointsNode::cmd_prev [private]

Definition at line 200 of file planner_2dof_serial_joints.cpp.

bool planner2dofSerialJointsNode::debug_aa_ [private]

Definition at line 104 of file planner_2dof_serial_joints.cpp.

Astar::Vecf planner2dofSerialJointsNode::euclid_cost_coef_ [private]

Definition at line 68 of file planner_2dof_serial_joints.cpp.

float planner2dofSerialJointsNode::expand_ [private]

Definition at line 92 of file planner_2dof_serial_joints.cpp.

float planner2dofSerialJointsNode::freq_ [private]

Definition at line 85 of file planner_2dof_serial_joints.cpp.

float planner2dofSerialJointsNode::freq_min_ [private]

Definition at line 86 of file planner_2dof_serial_joints.cpp.

std::string planner2dofSerialJointsNode::group_ [private]

Definition at line 102 of file planner_2dof_serial_joints.cpp.

bool planner2dofSerialJointsNode::has_goal_ [private]

Definition at line 87 of file planner_2dof_serial_joints.cpp.

bool planner2dofSerialJointsNode::has_start_ [private]

Definition at line 88 of file planner_2dof_serial_joints.cpp.

int planner2dofSerialJointsNode::id[2] [private]

Definition at line 202 of file planner_2dof_serial_joints.cpp.

sensor_msgs::JointState planner2dofSerialJointsNode::joint_ [private]

Definition at line 171 of file planner_2dof_serial_joints.cpp.

LinkBody planner2dofSerialJointsNode::links_[2] [private]

Definition at line 168 of file planner_2dof_serial_joints.cpp.

ros::NodeHandle planner2dofSerialJointsNode::nh_ [private]

Definition at line 54 of file planner_2dof_serial_joints.cpp.

ros::NodeHandle planner2dofSerialJointsNode::pnh_ [private]

Definition at line 55 of file planner_2dof_serial_joints.cpp.

PointVelMode planner2dofSerialJointsNode::point_vel_ [private]

Definition at line 100 of file planner_2dof_serial_joints.cpp.

ros::Publisher planner2dofSerialJointsNode::pub_status_ [private]

Definition at line 57 of file planner_2dof_serial_joints.cpp.

ros::Publisher planner2dofSerialJointsNode::pub_trajectory_ [private]

Definition at line 58 of file planner_2dof_serial_joints.cpp.

ros::Duration planner2dofSerialJointsNode::replan_interval_ [private]

Definition at line 173 of file planner_2dof_serial_joints.cpp.

ros::Time planner2dofSerialJointsNode::replan_prev_ [private]

Definition at line 172 of file planner_2dof_serial_joints.cpp.

int planner2dofSerialJointsNode::resolution_ [private]

Definition at line 90 of file planner_2dof_serial_joints.cpp.

std::vector<Astar::Vec> planner2dofSerialJointsNode::search_list_ [private]

Definition at line 89 of file planner_2dof_serial_joints.cpp.

planner_cspace_msgs::PlannerStatus planner2dofSerialJointsNode::status_ [private]

Definition at line 170 of file planner_2dof_serial_joints.cpp.

ros::Subscriber planner2dofSerialJointsNode::sub_joint_ [private]

Definition at line 60 of file planner_2dof_serial_joints.cpp.

ros::Subscriber planner2dofSerialJointsNode::sub_trajectory_ [private]

Definition at line 59 of file planner_2dof_serial_joints.cpp.

tf2_ros::Buffer planner2dofSerialJointsNode::tfbuf_ [private]

Definition at line 62 of file planner_2dof_serial_joints.cpp.

tf2_ros::TransformListener planner2dofSerialJointsNode::tfl_ [private]

Definition at line 63 of file planner_2dof_serial_joints.cpp.

trajectory_msgs::JointTrajectory planner2dofSerialJointsNode::traj_prev [private]

Definition at line 201 of file planner_2dof_serial_joints.cpp.

float planner2dofSerialJointsNode::weight_cost_ [private]

Definition at line 91 of file planner_2dof_serial_joints.cpp.

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

• planner_2dof_serial_joints.cpp