Pure pursuit controller. More...

#include <purePursuitController.h>

Public Member Functions
void	angle2quat (vector< float > &angle, vector< float > &quaternion)
Constructors/destructor
	PurePursuitControllerNode (const ros::NodeHandle &nh)
	Constructor.
virtual	~PurePursuitControllerNode ()
	Destructor.
Methods
void	spin ()
	Spin once.
bool	step (geometry_msgs::Twist &twist)
	Step once.
geometry_msgs::PoseStamped	getCurrentPose () const
	Returns the current pose of the robot.
double	getLookAheadThreshold () const
	Returns the current lookahead distance threshold.
int	getNextWayPoint (int wayPoint)
	Returns the next way point by linear search from the current waypoint.
void	resetParam ()
Protected Member Functions
Protected methods
bool	pathExecute (pure_pursuit_controller::executePath::Request &req, pure_pursuit_controller::executePath::Response &res)
	Path message execute.
bool	goTriExecute (pure_pursuit_controller::executePath::Request &req, pure_pursuit_controller::executePath::Response &res)
bool	pathCancel (pure_pursuit_controller::cancelPath::Request &req, pure_pursuit_controller::cancelPath::Response &res)
bool	pathCut (pure_pursuit_controller::cutPath::Request &req, pure_pursuit_controller::cutPath::Response &res)
void	odometryCallback (const nav_msgs::Odometry &msg)
	Odometry message callback.
void	timerCallback (const ros::TimerEvent &event)
	Timer callback.
void	getParameters ()
Protected Attributes
Protected members
ros::NodeHandle	_nodeHandle
	ROS node handle.
ros::ServiceServer	_goTriExecute
ros::ServiceServer	_pathExecute
ros::ServiceServer	_pathCancel
ros::ServiceServer	_pathCut
ros::Publisher	_finishGoTri
std::string	_pathExecuteServerName
	Path message topic name.
std::string	_odometryTopicName
	Odometry message topic name.
std::string	_poseFrameId
	Frame id of pose estimates.
int	_queueDepth
	Queue size for receiving messages.
bool	isFinish
int	safeWayNum
bool	ifGoTrisector
bool	ifFirstPoint
bool	ifCutPath
nav_msgs::Path	_currentReferencePath
	Current reference path.
geometry_msgs::Twist	_currentVelocity
	Current velocity.
double	_frequency
	Controller frequency.
int	_nextWayPoint
	Next way point.
ros::Publisher	_cmdVelocityPublisher
	Commanded velocity publisher.
std::string	_cmdVelocityTopicName
	Commanded velocity topic name.
int	_initialWayPoint
	Initial way point.
double	_velocity
	Velocity.
double	_lookAheadRatio
	Lookahead ratio.
double	_epsilon
	Epsilon.
tf::TransformListener	_tfListener
	Transform listener for robot's pose w.r.t. map.
ros::Timer	_timer
	Timer.

Detailed Description

Pure pursuit controller.

The class PurePursuitControllerNode implements a pure pursuit controller.

Definition at line 27 of file purePursuitController.h.

Constructor & Destructor Documentation

PurePursuitControllerNode::PurePursuitControllerNode ( const ros::NodeHandle & nh )

Constructor.

cmd_vel_mux/input/teleop ///cmd_vel

Definition at line 31 of file purePursuitController.cpp.

PurePursuitControllerNode::~PurePursuitControllerNode ( ) [virtual]

Destructor.

Definition at line 51 of file purePursuitController.cpp.

Member Function Documentation

void PurePursuitControllerNode::angle2quat	(	vector< float > &	angle,
		vector< float > &	quaternion
	)

Definition at line 60 of file purePursuitController.cpp.

geometry_msgs::PoseStamped PurePursuitControllerNode::getCurrentPose ( ) const

Returns the current pose of the robot.

Definition at line 239 of file purePursuitController.cpp.

double PurePursuitControllerNode::getLookAheadThreshold ( ) const

Returns the current lookahead distance threshold.

Definition at line 264 of file purePursuitController.cpp.

int PurePursuitControllerNode::getNextWayPoint ( int wayPoint )

Returns the next way point by linear search from the current waypoint.

Definition at line 269 of file purePursuitController.cpp.

void PurePursuitControllerNode::getParameters ( ) [protected]

Definition at line 326 of file purePursuitController.cpp.

bool PurePursuitControllerNode::goTriExecute	(	pure_pursuit_controller::executePath::Request &	req,
		pure_pursuit_controller::executePath::Response &	res
	)		`[protected]`

Definition at line 85 of file purePursuitController.cpp.

void PurePursuitControllerNode::odometryCallback ( const nav_msgs::Odometry & msg ) [protected]

Odometry message callback.

Definition at line 109 of file purePursuitController.cpp.

bool PurePursuitControllerNode::pathCancel	(	pure_pursuit_controller::cancelPath::Request &	req,
		pure_pursuit_controller::cancelPath::Response &	res
	)		`[protected]`

Definition at line 96 of file purePursuitController.cpp.

bool PurePursuitControllerNode::pathCut	(	pure_pursuit_controller::cutPath::Request &	req,
		pure_pursuit_controller::cutPath::Response &	res
	)		`[protected]`

Definition at line 102 of file purePursuitController.cpp.

bool PurePursuitControllerNode::pathExecute	(	pure_pursuit_controller::executePath::Request &	req,
		pure_pursuit_controller::executePath::Response &	res
	)		`[protected]`