A recovery behavior that rotates the robot in-place to attempt to clear out space. More...

Inheritance diagram for rotate_recovery::RotateRecovery:

Public Member Functions
void	initialize (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS global_costmap, costmap_2d::Costmap2DROS *local_costmap)
	Initialization function for the RotateRecovery recovery behavior.
	RotateRecovery ()
	Constructor, make sure to call initialize in addition to actually initialize the object.
void	runBehavior ()
	Run the RotateRecovery recovery behavior.
	~RotateRecovery ()
	Destructor for the rotate recovery behavior.
Private Attributes
double	acc_lim_th_
costmap_2d::Costmap2D	costmap_
double	frequency_
costmap_2d::Costmap2DROS *	global_costmap_
bool	initialized_
costmap_2d::Costmap2DROS *	local_costmap_
double	max_rotational_vel_
double	min_rotational_vel_
std::string	name_
double	sim_granularity_
tf::TransformListener *	tf_
double	tolerance_
base_local_planner::CostmapModel *	world_model_

Detailed Description

A recovery behavior that rotates the robot in-place to attempt to clear out space.

Definition at line 53 of file rotate_recovery.h.

Constructor & Destructor Documentation

rotate_recovery::RotateRecovery::RotateRecovery ( )

Constructor, make sure to call initialize in addition to actually initialize the object.

Parameters:

@return

Definition at line 44 of file rotate_recovery.cpp.

rotate_recovery::RotateRecovery::~RotateRecovery ( )

Destructor for the rotate recovery behavior.

Definition at line 77 of file rotate_recovery.cpp.

void rotate_recovery::RotateRecovery::initialize	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	global_costmap,
		costmap_2d::Costmap2DROS *	local_costmap
	)		`[virtual]`

Initialization function for the RotateRecovery recovery behavior.

Parameters:

tf	A pointer to a transform listener
global_costmap	A pointer to the global_costmap used by the navigation stack
local_costmap	A pointer to the local_costmap used by the navigation stack

Definition at line 47 of file rotate_recovery.cpp.

void rotate_recovery::RotateRecovery::runBehavior ( ) [virtual]

Run the RotateRecovery recovery behavior.

Definition at line 81 of file rotate_recovery.cpp.